CN117848207A - Fixed type measuring device, system and method for airplane complete machine - Google Patents

Abstract

The invention discloses a fixed type measuring device, a system and a method for an airplane complete machine, wherein a global positioning control device is used for carrying out net-shaped global positioning on the complete machine of the airplane to obtain a global positioning reference, a moving device is arranged corresponding to the top and the bottom of the airplane and can fully cover the airplane body in the top and bottom areas of the airplane to move, and the complete machine measuring device synchronously moves along with the moving device, so that the complete machine measuring device is used for measuring the outline point cloud and the horizontal measuring point of the complete machine of the airplane based on the global positioning reference, and the complete machine of the airplane can be subjected to one-time complete machine outline measurement and complete machine horizontal measurement with high precision and high efficiency.

Description

Fixed type measuring device, system and method for airplane complete machine

Technical Field

The invention belongs to the technical field of airplane complete machine measurement, and relates to a fixed type airplane complete machine measuring device, system and method.

Background

For the measurement of the whole aircraft assembly quality, the laser scanning mode is mainly used for acquiring high-density aircraft appearance point cloud data at present for the evaluation of the aircraft geometric appearance. However, the existing aircraft whole machine measurement is based on a single unit or single measuring equipment to acquire local measurement data, multiple station switching is performed by means of datum point/common point data, and registration of different station measurement data is performed by a data fusion method to acquire whole machine measurement data. Because frequent station switching is required in the whole measurement process, the following two problems are brought: on the one hand, the measuring equipment makes a plurality of transfer stations to cause that the labor intensity of operators is high and the measuring efficiency is low, the production beat of the aircraft is seriously influenced, and meanwhile, the transfer stations are introduced with non-negligible transfer station errors for a plurality of times, so that the accuracy of measuring data is weakened, and the real assembly state of the aircraft cannot be accurately estimated. On the other hand, in the execution process, a detailed measurement process scheme is required to be formulated according to the measured object, and more specialized technicians are required, so that corresponding training and personnel cost are high. In addition, the measurement method cannot ensure the consistency of the measurement references of the airplanes of different frames, cannot form an optimized measurement process plan, and cannot quickly and accurately position quality problems.

Therefore, the invention discloses a device, a system and a method for measuring the whole machine of an airplane in a fixed manner aiming at the technical problems existing in the measuring process of the whole machine of the airplane.

Disclosure of Invention

The invention aims to provide a fixed type measuring device, system and method for an airplane complete machine, which can be used for measuring the appearance of the airplane complete machine at one time and measuring the level of the complete machine with high precision and high efficiency.

The invention is realized by the following technical scheme:

the utility model provides a fixed measuring device of aircraft complete machine, includes global positioning controlling means, motion device, complete machine measuring device, global positioning controlling means is used for carrying out netted global positioning to the complete machine of aircraft and obtains global positioning benchmark, motion device corresponds the top and the bottom setting of aircraft and can remove at the fuselage of the full coverage aircraft in the top and the bottom region of aircraft, complete machine measuring device accompanies motion device synchronous movement, measures the appearance profile point cloud and the horizontal measurement point position of aircraft complete machine based on global positioning benchmark through complete machine measuring device.

In order to better realize the invention, the global positioning control device further comprises a scanning shooting array and a scanning target ball array, wherein the scanning shooting array comprises a plurality of global scanning shooting devices which are arranged in a measuring area in a net shape, the scanning target ball array comprises a plurality of scanning target balls which are arranged in the measuring area in a net shape, the scanning target balls are used for providing global positioning coordinates for the global scanning shooting devices, and the global scanning shooting devices conduct global shooting scanning on the whole aircraft based on the global positioning coordinates and form global positioning references.

In order to better realize the invention, the global scanning shooting device further comprises a tripod head camera, a machine body point throwing device, a measuring pen and stand columns, wherein the stand column linear arrays are arranged on two sides of a measuring area, at least two tripod head cameras are sequentially arranged on one side, close to an airplane, of the stand columns from top to bottom, and the machine body point throwing device and the measuring pen are respectively arranged in the measuring area corresponding to the top and the bottom of the airplane.

In order to better realize the invention, the motion device further comprises a triaxial moving device and a ground moving device, wherein the triaxial moving device is arranged corresponding to the top area of the airplane, the triaxial moving device comprises a lifting unit which moves in the vertical direction, a top translation unit which translates in the horizontal plane is arranged on the lifting unit, a swinging unit which swings relative to the airplane is arranged on the top translation unit, and a whole machine measuring device is arranged on the swinging unit; the ground moving device is arranged corresponding to the bottom area of the airplane and comprises a bottom translation unit which translates in a horizontal plane, a six-degree-of-freedom moving unit is arranged on the bottom translation unit, and a complete machine measuring device is arranged on the six-degree-of-freedom moving unit.

In order to better realize the invention, the whole machine measuring device further comprises an appearance measuring device and a level measuring device, wherein the appearance measuring device is used for scanning and measuring the whole machine appearance of the airplane, and the level measuring device is used for carrying out coordinate measurement on a level measuring point on the airplane based on a global positioning reference.

The utility model provides a fixed measurement system of aircraft complete machine for control fixed measuring device of aircraft complete machine, includes main control module, flow control module, hardware control module, data analysis module, self-checking module, flow control module is used for making the measurement flow task, main control module carries out task allocation and control to the hardware equipment in the fixed measuring device of aircraft complete machine according to measurement flow task control hardware control module, data analysis module is used for gathering the measurement data of the fixed measuring device of aircraft complete machine execution flow task in-process to analyze measurement data in order to obtain the appearance measuring result and the level measuring result of aircraft, self-checking module is used for carrying out the self-checking to main control module, flow control module, hardware control module, data analysis module, the fixed measuring device of aircraft complete machine.

In order to better realize the invention, the main control module further comprises a main control unit, a server unit and a protocol communication unit, wherein the main control unit is respectively connected with the protocol communication unit and the self-checking unit through the server unit, and the protocol communication unit performs data communication interaction with the flow control module, the hardware control module, the data analysis module and the self-checking module.

The method for measuring the whole machine of the airplane in a fixed manner is realized based on a whole machine fixed measurement system of the airplane, and comprises the following steps:

step 1, performing self-checking on a main control module, a flow control module, a hardware control module, a data analysis module and a fixed measuring device of the whole aircraft by a self-checking module, and switching to step 2 after the self-checking is passed;

step 2, the aircraft enters a measurement area, a hardware control module controls a global positioning control device to perform global positioning on the whole aircraft to form a global positioning reference, a rough positioning point is determined through the global positioning reference, and rough positioning is performed on the whole aircraft through the rough positioning point;

step 3, the hardware control module controls the motion device to drive the whole machine measuring device to measure and scan the appearance of the airplane and the horizontal measuring points on the airplane to obtain appearance point cloud and horizontal measuring point coordinates, and the appearance point cloud and the horizontal measuring point coordinates are compared with the standard positioning model of the airplane through the data analysis module so as to accurately position the whole machine of the airplane;

step 4, the hardware control module controls the motion device to drive the whole machine measuring device to move to the position of a horizontal measuring point on the plane, the whole machine measuring device is used for measuring and scanning a plurality of horizontal measuring points on the plane, and the data analysis module is used for comparing the horizontal measuring point data with the standard horizontal measuring point data so as to correct the measuring area;

and 5, setting a scanning mode and a scanning path through a flow control module, controlling the movement device to move along the set path by a hardware control module according to the scanning path, and controlling the whole machine measuring device to measure and scan the appearance of the aircraft according to the set scanning mode by the hardware control module according to the scanning mode.

In order to better realize the invention, further, the global positioning control device can cover all measurement positions in the measurement area, and the same measurement position can be simultaneously captured and positioned by at least two global positioning control devices; the overlapping part of the positioning areas between two adjacent global positioning control devices accounts for more than or equal to 60 percent of the positioning areas.

In order to better realize the invention, further, before the global positioning control device performs global positioning on the whole aircraft to form a global positioning reference, the global positioning control device, the motion device and the whole aircraft measuring device are calibrated and maintained in advance.

Compared with the prior art, the invention has the following advantages:

(1) The invention can accurately position the whole aircraft and fully cover the high-precision measurement, the measurement precision is within +/-0.2 mm, which is far higher than the measurement precision of +/-1 mm of the existing whole aircraft;

(2) According to the invention, the detection path can be automatically planned according to the actual detection requirement, and the detection equipment is mobilized to automatically and efficiently detect the whole aircraft, so that the detection time of the whole aircraft is less than 6 hours, and is far lower than the measurement time of the whole aircraft of 40 hours.

Drawings

FIG. 1 is a schematic diagram of a fixed measurement device of an aircraft complete machine;

FIG. 2 is a schematic diagram of a structure of a lifting unit;

FIG. 3 is a schematic diagram of a three axis mobile device;

FIG. 4 is a schematic view of the installation of a column;

FIG. 5 is a schematic diagram of a ground moving device;

FIG. 6 is a layout diagram of a global positioning control device;

FIG. 7 is a schematic diagram of a pan-tilt camera in a measurement area;

FIG. 8 is a schematic diagram of the mounting of a pan-tilt camera on a column;

FIG. 9 is a schematic diagram of a pan-tilt camera;

FIG. 10 is a diagram of an aircraft complete machine fixed measurement system architecture;

FIG. 11 is a schematic diagram of a system boot self-test flow;

FIG. 12 is a schematic illustration of an aircraft entry detection flow;

FIG. 13 is a schematic diagram of a system calibration maintenance flow;

FIG. 14 is a schematic block diagram of an aircraft complete machine stationary measurement system.

Wherein: 1-a global positioning control device; 2-a movement device; 3-a whole machine measuring device; 11-pan-tilt camera; 12-a body dotter; 13-measuring pen; 14-stand columns; 21-a triaxial mobile device; 22-ground moving means; 211-a lifting unit; 212-a top translation unit; 221-a bottom translation unit; 222-six degrees of freedom mobile unit.

Detailed Description

The following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the invention clearly indicates otherwise, and it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

Example 1:

the fixed measuring device of the whole aircraft in this embodiment, as shown in fig. 1-9, comprises a global positioning control device 1, a motion device 2 and a whole measuring device 3, wherein the global positioning control device 1 is used for performing net global positioning on the whole aircraft to obtain a global positioning reference, the motion device 2 is arranged corresponding to the top and the bottom of the aircraft and can completely cover the aircraft body in the top and bottom areas of the aircraft to move, the whole measuring device 3 moves synchronously along with the motion device 2, and the whole measuring device 3 measures the outline point cloud and the horizontal measuring point of the whole aircraft based on the global positioning reference.

The global positioning control device 1 is arranged in an array in a measuring area to form a net structure, the overall positioning control device 1 of the net structure scans and shoots the aircraft to realize net-shaped overall positioning, and then a global positioning reference of full-size three coordinates is established, positioning basis is provided for the outline point cloud measurement and the horizontal measurement point measurement of the whole aircraft by the subsequent whole aircraft measuring device 3 through the global positioning reference, and the accuracy of the whole aircraft measuring result by the whole aircraft measuring device 3 is further ensured.

The motion device 2 is arranged corresponding to the top of the airplane and the bottom of the airplane, so that the whole covering machine is moved. The motion device 2 can translate in the horizontal plane, lift in the vertical direction and swing relative to the plane at the top of the plane, the motion device 2 can translate in the horizontal plane and move in six degrees of freedom at the bottom of the plane, and then the motion device 2 can drive the whole machine measuring device 3 to carry out full-coverage shooting scanning on the whole machine of the plane, so that omission of a final measuring result is avoided.

The whole machine measuring device 3 carries out measurement of the outline point cloud and the horizontal measuring point of the whole machine along with the movement of the movement device 2, so that accurate positioning of the whole machine of the airplane in a measuring area and accurate measurement of the outline point cloud are realized.

Example 2:

the fixed measuring device of aircraft complete machine of this embodiment improves on the basis of embodiment 1, global positioning control device 1 includes scanning shooting array, scanning target ball array, the scanning shooting array is including being a plurality of global scanning shooting devices that the netted setting is in the measuring region, scanning target ball array is including being a plurality of scanning target balls that the netted setting is in the measuring region, the scanning target ball is used for providing global positioning coordinate to global scanning shooting device, global scanning shooting device carries out global shooting scanning and forms global positioning reference to the complete machine of aircraft based on global positioning coordinate.

The scanning shooting arrays are distributed on two sides of the measuring area, the scanning shooting arrays can carry out full-coverage scanning shooting on the whole aircraft, and meanwhile, the shooting field of view of the scanning shooting arrays is larger than or equal to the measuring area containing the whole aircraft. The scanning target ball arrays form a global scanning measurement control network, so that the coordinate system and the equipment state of the scanning shooting arrays are checked, and the scanning shooting arrays and the scanning target ball arrays can be interchanged on each motion device 2.

Further, as shown in fig. 6-9, the global scanning photographing device includes a pan-tilt camera 11, a body point projector 12, a measuring pen 13, and a stand column 14, wherein the linear array of stand columns 14 is disposed at two sides of the measuring area, at least two pan-tilt cameras 11 are sequentially disposed on one side of the stand column 14, which is close to the aircraft, from top to bottom, and the body point projector 12 and the measuring pen 13 are disposed in the measuring area corresponding to the top and the bottom of the aircraft respectively.

In order to meet the full coverage of the whole machine measurement requirement, a plurality of cradle head cameras 11 are arranged in a cascading mode to form a fixed station type multi-camera array, and a set of global measurement system is formed by overlapping and integral calibration of the cradle head cameras 11, so that the whole machine can be covered in the measurement range. The machine body point throwing device 12 and the measuring pen 13 are matched to carry out point throwing detection on the point positions of the special area on the machine body, so that measurement of all the point positions to be measured in the whole machine range is realized. The distribution relation of the measuring areas of the cameras 11 forms net-shaped structure distribution, and the full coverage requirement of the measuring range and the precision requirement of measurement can be guaranteed by the aid of the net-shaped structure distribution of the cameras 11.

The distribution of the plurality of pan-tilt cameras 11 in the net-shaped structure needs to satisfy the following conditions:

a) It must be ensured that a plurality of pan-tilt cameras 11 can cover all positions to be measured in a measurement area, and the same measurement position can be captured and photographed by more than 2 pan-tilt cameras 11 at the same time;

b) Ensuring that the overlapping area of shooting fields of view between adjacent pan-tilt cameras 11 is more than or equal to 60% of the independent shooting field of view of any pan-tilt camera 11;

c) Ensuring that the optimal intersection angle of all the position calibration points to be measured in the measurement area relative to the same pan-tilt camera 11 is 60-120 degrees;

d) Ensuring that the photographing incidence angle of each position calibration point to be measured relative to any pan-tilt camera 11 is smaller than 45 degrees;

e) Ensuring that the distribution position of the pan-tilt camera 11 can avoid the influence of factors such as shielding.

According to the rules, based on the airplane model, the measurement elements and the spatial distribution thereof, the equipment measurement precision and the equipment performance parameter information, the principle that the fields of view of two adjacent pan-tilt cameras 11 at each station position are partially overlapped is adopted:

the overlapping condition of the fields of view of the adjacent pan-tilt cameras 11 at each station position ensures that the whole aircraft can be covered by 100% in the horizontal direction, and the overlapping rate of the field of view area exceeds 60%. The overlapping condition of the fields of view of the adjacent cradle head cameras 11 at each shooting station position ensures that 100% coverage of the whole aircraft is also realized in the vertical direction, and ensures that the fields of view of the cradle head cameras 11 can also cover the working area of the whole aircraft measuring device 3.

The cradle head cameras 11 are installed on the upright posts 14, upper, middle and lower 3 sections of T-shaped clamping grooves are uniformly distributed on each upright post 14 from top to bottom in sequence, wherein the upper section of clamping groove is 5-6 m away from the ground, the middle section of clamping groove is 3-4 m away from the ground, and the lower section of clamping groove is 1-3 m away from the ground.

The cradle head camera 11 is fixed in the T-shaped clamping groove on the upright post 14 through the supporting seat, the supporting seat can move up and down in the T-shaped clamping groove, and meanwhile, the cradle head camera 11 has the functions of rotating and locking horizontally by 360 degrees and vertically by 90 degrees, so that the position and shooting angle of the cradle head camera 11 can be conveniently adjusted and fixed on site.

Further, the bottom of the upright post 14 is provided with a mounting flange, the mounting flange is connected with T-shaped grooves on a factory building foundation through foundation bolts and adjustable sizing blocks, and the bottom of each upright post 14 is provided with a plurality of sets of adjustable sizing blocks, so that geometric parameters such as height of a base, multidirectional inclination and the like can be adjusted, and levelness of the upper surface of the upright post 14 can be adjusted.

Example 3:

the fixed measuring device for the whole aircraft in this embodiment is improved on the basis of embodiment 1 or 2, as shown in fig. 2, 3, 5 and 6, the moving device 2 includes a triaxial moving device 21 and a ground moving device 22, the triaxial moving device 21 is arranged corresponding to the top area of the aircraft, the triaxial moving device 21 includes a lifting unit 211 moving in the vertical direction, the lifting unit 211 is provided with a top translation unit 212 translating in the horizontal plane, the top translation unit 212 is provided with a swinging unit swinging relative to the aircraft, and the swinging unit is provided with a whole measuring device 3; the ground moving device 22 is arranged corresponding to the bottom area of the airplane, the ground moving device 22 comprises a bottom translation unit 221 which translates in the horizontal plane, a six-degree-of-freedom moving unit 222 is arranged on the bottom translation unit 221, and a complete machine measuring device 3 is arranged on the six-degree-of-freedom moving unit 222.

The top translation unit 212 is composed of an X-axis translation unit and a left and right set of Y-axis translation units, wherein the X-axis translation unit translates along the X direction in the horizontal plane, the X direction is the direction parallel to the central axis of the length of the machine body, and the Y-axis translation unit translates along the Y direction perpendicular to the X direction in the horizontal plane. The outside of the measuring area is provided with a support frame comprising a plurality of upright posts 14 arranged on both sides of the measuring area in a linear array along the X direction, a Y-direction beam crossing the tops of the two aligned upright posts 14 along the Y direction, and an X-direction beam arranged in the middle of the Y-direction beam along the X direction. The X-direction beam is provided with an X guide rail at the bottom, the X-axis translation unit translates along the X guide rail, the two sides of the bottom of the Y-direction beam are symmetrically provided with Y guide rails relative to the X-direction beam, and the two sets of Y-axis translation units translate along the two Y guide rails respectively. The X-axis translation unit and the Y-axis translation unit are both driven in a translation mode by adopting a gear rack linear driving structure, and a grating ruler is arranged in the translation direction to ensure that the movement precision of the X-axis translation unit and the Y-axis translation unit is smaller than or equal to 0.2mm.

The lifting unit 211 comprises a movable supporting seat, a lifting guide rail, a lifting ball screw nut and a top flange, wherein the lifting guide rail, the lifting ball screw nut and the top flange move on the guide rail along the vertical direction, and the movable supporting seat can be moved to a proper position along the vertical direction at will and positioned effectively. The test unit workbench moves the ram to move along with the lifting movement in the vertical direction of the test system and is positioned at the required high and low positions.

The swinging unit is a motion executing end, the whole machine measuring device 3 can be installed on a workbench of the executing end of the swinging unit, the swinging unit comprises a workbench, a motor, a speed reducer and a swinging shaft, the motor drives the swinging shaft to rotate through the speed reducer, and then the whole machine measuring device 3 on the workbench is driven to realize swinging.

Further, the bottom translation unit 221 includes an AGV, the six-degree-of-freedom moving unit 222 includes a six-degree-of-freedom manipulator, the AGV is used as a moving carrier, the six-degree-of-freedom manipulator is mounted on the AGV, and the AGV can drive the six-degree-of-freedom manipulator to move in a large range in a two-dimensional plane direction on the ground of the factory according to a planned path; the six-degree-of-freedom manipulator can be used for realizing small-range multi-degree-of-freedom movement. The customized two-dimensional code navigation backpack AGV is used as a measuring system automatic movement positioning device, and the bearing, large-scale free movement and positioning of the six-degree-of-freedom mechanical arm and the whole machine measuring device 3 are realized.

The two-dimensional code is used for navigating the backpack AGV, and the two-dimensional code is used for guiding and reading landmark instructions to travel, so that the backpack AGV can stop according to a set site. The top is reserved with an interface, and a six-degree-of-freedom manipulator can be installed. The six-degree-of-freedom manipulator is carried on back of the AGV car to run around the airplane, point position stop is carried out according to control signals, and the six-degree-of-freedom manipulator is moved and positioned according to the design position after the point position stop. The AGV mainly comprises an automatic guided vehicle system, a management system, a monitoring system, a battery intelligent charging station system and the like. Under the management and monitoring of the AGVS management system and the monitoring system, the AGV selects a planned optimal path according to the requirements of the operation tasks, accurately walks and stops at a designated place, and completes a series of operation tasks such as stopping, lifting, charging and the like. The six-degree-of-freedom manipulator adopts a UR10 six-degree-of-freedom manipulator, and provides an installation and moving platform for front-end measuring equipment. The six-degree-of-freedom manipulator is rapid to install, flexible to deploy, good in collaboration and safety and simple to program.

Example 4:

the fixed measuring device of the whole aircraft in this embodiment is improved on the basis of any one of embodiments 1 to 3, the whole aircraft measuring device 3 includes an appearance measuring device and a level measuring device, the appearance measuring device is used for scanning and measuring the appearance of the whole aircraft, and the level measuring device carries out coordinate measurement on a level measuring point on the aircraft based on a global positioning reference.

The whole machine measuring device 3 comprises an appearance measuring device and a level measuring device, wherein the appearance measuring device comprises a rapid scanning measuring device and a fine measuring device. The rapid scanning measurement device can perform rapid spot-casting measurement or laser scanning measurement of the appearance of the whole aircraft, and the fine scanning system can perform high-precision and high-detail scanning measurement of the appearance of the aircraft under the coordinate system of the whole aircraft.

The horizontal measuring device comprises a measuring pen and a point throwing device, and is matched with the multi-camera array to form a set of large-size three-coordinate measuring system, so that coordinate measurement can be carried out on horizontal measuring points in the whole machine range.

The single-point throwing device adopts a CWPOS/S optical point throwing device, and the measuring characteristics on the product can be accurately aimed at a long distance through the single-point throwing device. The system provides high-brightness measurement characteristics for a multi-camera array global measurement system, and realizes remote, non-contact and automatic aiming and point throwing and measurement of horizontal measurement points of specific points on a workpiece.

The single-point spot-thrower aiming function is mainly completed by a laser, a fine tuning mechanism, an aiming camera and system software, wherein the laser is used for projecting laser spots, the fine tuning mechanism can drive the laser to adjust aiming positions, the aiming camera is used for collecting images of feature points to be detected, such as horizontal measurement points and laser spots, the system software respectively extracts center coordinates of the feature points to be detected and center coordinates of the laser spots through an algorithm through images of the feature points to be detected and the laser spots obtained by the aiming camera, and compares difference values of the center coordinates of the feature points to be detected and the center coordinates of the laser spots, the difference values are fed back to the fine tuning mechanism, and the fine tuning mechanism drives the laser to conduct direction adjustment until centers of the feature points to be detected and the laser spots completely coincide, so that automatic aiming is achieved. The control of the laser, the image acquisition, the deviation calculation of the image coordinates and the fine adjustment mechanism is controlled by a control computer of the single-point projector, and the control is completed automatically.

In the multi-camera array, the measuring pen can be used for carrying out contact coordinate measurement on the characteristic points of the workpiece to be measured, and the fact that a plurality of measuring pens can simultaneously carry out measurement in the multi-camera array can be guaranteed.

The rapid scanning measurement device comprises a double camera and a point throwing device or a laser scanner and is mainly responsible for rapid acquisition of point cloud data of the whole machine shape. The scanning target ball array forms a global scanning measurement control network, so that the coordinate system of the laser scanner and the equipment state are checked. The two forms of measuring equipment can be interchanged on each motion unit.

The double camera and the point projector mainly comprise a double camera, a multi-point projector and a camera bracket, and the structural design of the double camera and the point projector is shown in figure 8. The optical target of the array can be projected to the surface of the measured object in a long distance and the rapid measurement can be carried out, and the multi-camera array provides a global reference for the double camera and the spot projector when the station is moved. The multi-point projector adopts a CWPOS optical projector, and projects the measuring mark onto the surface of the airplane, so that the remote and non-contact rapid measurement of the appearance of a large-sized workpiece can be realized.

Example 4:

the utility model provides an aircraft complete machine fixed measurement system, as shown in fig. 10-14, is used for controlling aircraft complete machine fixed measurement device, including main control module, flow control module, hardware control module, data analysis module, self-checking module, flow control module is used for making the measurement flow task, main control module carries out task allocation and control to the hardware equipment in the aircraft complete machine fixed measurement device according to measurement flow task control hardware control module, data analysis module is used for gathering aircraft complete machine fixed measurement device and carries out the measurement data of flow task in-process to carry out the analysis to measurement data in order to obtain the appearance measurement result and the level measurement result of aircraft, self-checking module is used for carrying out the self-checking to main control module, flow control module, hardware control module, data analysis module, aircraft complete machine fixed measurement device.

The hardware control module controls the cradle head camera 11, the machine body point throwing device 12 and the three-axis moving device 21 through TCP communication, and the hardware control module controls the AGV and the six-degree-of-freedom manipulator through a control development communication packet of the AGV and the six-degree-of-freedom manipulator.

Further, the main control module comprises a main control unit, a server unit and a protocol communication unit, wherein the main control unit is respectively connected with the protocol communication unit and the self-checking unit through the server unit, and the protocol communication unit performs data communication interaction with the flow control module, the hardware control module, the data analysis module and the self-checking module.

The server unit comprises an OPC-UA server, and the main control unit is communicated with the OPC-UA server to realize state inquiry, operation control, data acquisition, transfer and the like of each hardware device in the aircraft whole machine fixed type measuring device.

The protocol communication unit prescribes the meaning of each variable in the OPC-UA server, and realizes the communication between the OPC-UA server and each hardware device in the aircraft complete machine fixed type measuring device, and uploads and downloads various measuring data.

The fixed measurement system of the whole aircraft mainly realizes the following functions:

(1) The system calibration function: the system is based on a fixed measuring station, measuring equipment completes measuring work of products under the control of a multi-camera array of the fixed measuring station, and under the condition that the number of measuring equipment is large, the calibration functions of various equipment of a system software system comprise calibration of position parameters of the multi-camera array in the measuring system, calibration of parameters of a scanner, calibration of the measuring system of the scanner and a mechanical arm, calibration of a translational motion mechanism, calibration of the relation between an AGV and the camera array and the like. The system calibration work is prepared, and the whole-aircraft profile scanning and aircraft level measuring functions can be performed after calibration.

(2) Various measuring device on-line functions: the system comprises a plurality of measuring devices, the system of the measuring devices can realize the simultaneous automatic connection of the plurality of devices through OPC service, the system main control software can display the connection state of the plurality of devices and drive the plurality of devices to finish the measuring work, such as a multi-camera photogrammetry system, a measuring pen, a point throwing device and the like which can be matched on line, and can drive the measuring devices to acquire remote data.

(3) High-precision point measurement function: the high-precision three-dimensional coordinates of the feature points of the product to be measured are obtained in real time by controlling more than two measuring cameras in the fixed measuring system to synchronously shoot the image of the product to be measured, and the device has a metric/English conversion function and can realize unit conversion according to requirements.

(4) Automatic measurement and path planning functions: the system software controls the AGV, the translational motion mechanism and the mechanical arm to move, and automatic scanning measurement of the whole machine can be completed. The AGV cooperates with the mechanical arm to scan the appearance of the aircraft, and three-dimensional measurement point cloud data are stored; the translational motion mechanism is matched with the cast point measuring system and software to be capable of designating an automatic measuring function of a region, and based on a measuring path planning function of a three-dimensional model, if the measuring path of the whole aircraft is planned completely, the system software can be controlled automatically to finish automatic measurement of the appearance of the whole aircraft, and three-dimensional point cloud data of the whole aircraft are acquired.

(5) Aircraft level measurement function: the movable three-coordinate measuring instrument in the system software is matched with the fixed measuring system to be used by a contact type measuring light pen, and coordinate data of three-dimensional measuring points are stored; for a horizontal point on the vertical tail of the aircraft, operators are difficult to reach and contact due to higher height, a single-point throwing device is adopted in system software to remotely aim at the point, then a fixed station type multi-camera array is adopted to carry out non-contact measurement, and coordinate data of three-dimensional measurement points are stored. Through measuring the horizontal point, the functions of aircraft pose calculation and positioning can be realized, seamless conversion between an aircraft design coordinate system and a measurement coordinate system is completed, and a calculation result is output.

(6) Data processing and spatial analysis functions:

fitting calculation and space analysis of various points, lines, planes and various standard shapes can be carried out according to the measured three-dimensional coordinates. Fitting straight line, plane, circle, sphere, paraboloid and cylinder; spatial relationship data such as distance, angle and the like can be solved; the coordinate system can be constructed in various forms to effect the conversion of the measurement references.

(7) Standard shape fitting measurement function

And fitting the standard body in real time according to the three-dimensional points measured in real time by the body construction function of the software, and calculating the deviation. By means of structural measurement, the space geometrical relationship among different shapes can be calculated in real time, and real-time measurement of 6 degrees of freedom is achieved.

(8) Scanning measurement simulation function

Deformation monitoring and track measurement can be performed according to the three-dimensional coordinates measured in real time, and the simulation function of the measuring motion process is provided;

in the scanning measurement stage, the scanning measurement simulation can simulate the mechanical arm to drive scanning measurement in simulation software according to the planned mechanical arm moving path, and meanwhile, the scanning measurement software can verify whether the simulation result is consistent with the actual movement track.

(9) Three-dimensional visual graphic display and output

And various shapes generated by fitting and various spatial relations, deformation, motion parameters and the like generated by analysis are displayed or output in a three-dimensional graph form.

(10) Data input and output

The system can input external data into the system engineering, can output the data in the system engineering into an external file for other application software to use, and can output point coordinate data and point cloud data obtained in the system according to the needs and a fixed format, so that the software data can be read in real time in the state of the measurement process, and an interface supporting secondary development is provided.

(11) Rights management for system software

In the running and using process of the system, unified management and storage of measuring equipment and measuring data are needed, authority management is carried out on operators by adopting a technical means, and in the using process of the user, the system carries out identity identification and authentication on the user, the identity identification has uniqueness, and the identity authentication information has complexity requirement and is replaced regularly.

(12) System software universal interface

The system software interface comprises two aspects, namely a data input interface: the communication and data transmission interface between the measuring software and the measuring equipment is mainly a communication interface such as TCP, UDP and the like, the data can be transmitted between computers through a network, and the software is provided with an interface for reading real-time data of the state of the measuring process; secondly, the output interface measuring software is interacted with external data, mainly measuring data interaction, standard text TXT, PDF, WORD, EXCEL and other formats are provided, and the three-dimensional point cloud data format is selectable: STL, OBJ, IGES, STEP, TXT, etc., other formats are customized and developed according to the user's needs, and clients can also develop software secondarily according to the needs to provide secondary development interfaces.

Example 5:

the method for measuring the whole machine of the airplane in a fixed manner is realized based on a whole machine fixed measurement system of the airplane, and comprises the following steps:

step 1, performing self-checking on a main control module, a flow control module, a hardware control module, a data analysis module and a fixed measuring device of the whole aircraft by a self-checking module, and switching to step 2 after the self-checking is passed;

the system is started up for self-checking, the self-checking module is used for self-checking the power-on, the working state and the like of each hardware device contained in the fixed measuring device of the whole aircraft, the self-checking module is used for self-checking the running states of the main control module, the flow control module, the hardware control module and the data analysis module, and the self-checking result is transmitted to the external monitoring device in real time for the staff to check at any time.

Step 2, the aircraft enters a measurement area, a hardware control module controls a global positioning control device 1 to perform global positioning on the whole aircraft to form a global positioning reference, a rough positioning point is determined through the global positioning reference, and rough positioning is performed on the whole aircraft through the rough positioning point;

step 3, a hardware control module controls a motion device 2 to drive a whole machine measuring device 3 to measure and scan the appearance of the airplane and the horizontal measuring points on the airplane to obtain an appearance point cloud and horizontal measuring point coordinates, and the appearance point cloud and the horizontal measuring point coordinates are compared with a standard positioning model of the airplane through a data analysis module so as to accurately position the whole machine of the airplane;

the aircraft entrance positioning is used for determining the relative position relationship between the aircraft and the fixed measuring device of the whole aircraft, and the positioning process comprises rough positioning and accurate positioning. The rough positioning is required to stop the aircraft at a designated position in the measurement area; the accurate positioning can be realized in two ways, one is to determine the pose of the airplane by measuring the horizontal measuring point of the airplane, the other is to rapidly scan the outline point cloud of the airplane body by adopting a Surphaser scanner, and the accurate position and the pose of the airplane are determined by rapidly aligning the point cloud with the model.

Step 4, a hardware control module controls a motion device 2 to drive a complete machine measuring device 3 to move to a horizontal measuring point position on an airplane, a plurality of horizontal measuring points on the airplane are measured and scanned through the complete machine measuring device 3, and horizontal measuring point data and standard horizontal measuring point data are compared through a data analysis module so as to correct a measuring area;

the horizontal point measurement comprises two parts of establishing an aircraft design coordinate system and horizontal point measurement:

the method for establishing the aircraft design coordinate system comprises the following steps: and acquiring a plurality of horizontal measuring point coordinates on the aircraft body by using a measuring pen, and registering the measuring coordinates with the design reference coordinates to recover the aircraft design coordinate system.

The horizontal measuring points of the aircraft are distributed on the surface of the aircraft, and the horizontal measuring points comprise the fuselage, wings, vertical tails and the like. For the horizontal points in the areas with good visibility, the single-point throwing device is adopted to throw points and aim for realizing automatic measurement; the horizontal point of the hidden part is measured by a measuring pen held by a detector; and the person on the back of the aircraft can not conveniently reach the horizontal measurement point, and the horizontal point is directly identified, matched and measured in a characteristic identification mode. After the end of the horizontal point measurement, the measurement data are summarized and derived.

And 5, setting a scanning mode and a scanning path through a flow control module, controlling the movement device 2 to move along the set path by a hardware control module according to the scanning path, and controlling the whole machine measuring device 3 to measure and scan the appearance of the aircraft according to the set scanning mode by the hardware control module according to the scanning mode.

The aircraft shape measurement includes two steps of scan planning design and scan implementation:

the scanning planning design comprises the selection of a measurement area, the selection of a measurement mode, the planning of a measurement path, the simulation, the storage and the output of a planning path result and the like. Measurement region selection, measurement mode selection may be implemented in random software of the scanner. The path planning realizes the motion planning of the motion device 2, the AGV running path planning and the six-degree-of-freedom mechanical motion receiving planning, generates planning execution data packets of each motion device and each measuring device, and stores basic task files serving as follow-up automatic scanning implementation.

The scanning measurement is realized in two modes, namely a rapid measurement mode and a fine measurement mode, and multi-station partition scanning and reference unification of multi-station scanning data can be realized. The laser scanner or the double camera and the spot projector are used for implementing rapid scanning, the measuring equipment is moved to a designed measuring station by a translational motion mechanism, and the equipment starts scanning, so that the point cloud data of the selected area can be rapidly acquired. And the scanner and the projection point measuring system implement fine scanning, the scanner moves the mechanical arm to a designed measuring station position through an AGV (automatic guided vehicle) of the moving system, and a scanning head on an end effector of the mechanical arm scans a target area. After all the designed station scanning measurement is completed, the appearance scanning of the whole machine is realized.

Further, the global positioning control device 1 can cover all measurement positions in the measurement area, and the same measurement position can be captured and positioned by at least two global positioning control devices 1 at the same time; the overlapping portion of the positioning areas between two adjacent global positioning control devices 1 is 60% or more of the positioning areas.

Furthermore, before the global positioning control device 1 performs global positioning on the whole aircraft to form a global positioning reference, calibration maintenance is performed on the global positioning control device 1, the motion device 2 and the whole aircraft measurement device 3 in advance.

The above is only a preferred embodiment of the present invention, and the present invention is not limited in any way, and any simple modification and equivalent changes of the above embodiments according to the technical substance of the present invention fall within the protection scope of the present invention.

Claims (10)

1. The utility model provides a fixed measuring device of aircraft complete machine, its characterized in that includes global positioning controlling means (1), motion device (2), complete machine measuring device (3), global positioning controlling means (1) are used for carrying out netted global positioning to the complete machine of aircraft and obtain global positioning benchmark, motion device (2) correspond the top and the bottom setting of aircraft and can move at the fuselage of the top and the bottom region of aircraft full coverage aircraft, complete machine measuring device (3) follow motion device (2) synchronous movement, measure the appearance profile point cloud and the horizontal measurement point position of complete machine of aircraft based on global positioning benchmark through complete machine measuring device (3).

2. The aircraft complete machine fixed measurement device according to claim 1, wherein the global positioning control device (1) comprises a scanning shooting array and a scanning target ball array, the scanning shooting array comprises a plurality of global scanning shooting devices which are arranged in a net shape in a measurement area, the scanning target ball array comprises a plurality of scanning target balls which are arranged in a net shape in the measurement area, the scanning target balls are used for providing global positioning coordinates for the global scanning shooting devices, and the global scanning shooting devices conduct global shooting scanning on the complete machine of the aircraft based on the global positioning coordinates and form global positioning references.

3. The fixed measurement device of the whole aircraft according to claim 2, wherein the global scanning shooting device comprises a cradle head camera (11), a machine body spot projector (12), a measuring pen (13) and stand columns (14), wherein the stand columns (14) are arranged on two sides of a measurement area in a linear array manner, at least two cradle head cameras (11) are sequentially arranged on one side, close to the aircraft, of the stand columns (14) from top to bottom in an array manner, and the machine body spot projector (12) and the measuring pen (13) are respectively arranged in the measurement area corresponding to the top and the bottom of the aircraft.

4. A fixed measuring device for an aircraft complete machine according to claim 3, wherein the moving device (2) comprises a triaxial moving device (21) and a ground moving device (22), the triaxial moving device (21) is arranged corresponding to the top area of the aircraft, the triaxial moving device (21) comprises a lifting unit (211) moving in the vertical direction, a top translation unit (212) translating in the horizontal plane is arranged on the lifting unit (211), a swinging unit swinging relative to the aircraft is arranged on the top translation unit (212), and the complete machine measuring device (3) is arranged on the swinging unit; the ground moving device (22) is arranged corresponding to the bottom area of the airplane, the ground moving device (22) comprises a bottom translation unit (221) which translates in the horizontal plane, a six-degree-of-freedom moving unit (222) is arranged on the bottom translation unit (221), and a whole machine measuring device (3) is arranged on the six-degree-of-freedom moving unit (222).

5. The aircraft complete machine fixed type measuring device according to claim 4, wherein the complete machine measuring device (3) comprises an appearance measuring device and a level measuring device, the appearance measuring device is used for carrying out scanning measurement on the complete machine appearance of an aircraft, and the level measuring device is used for carrying out coordinate measurement on a level measuring point on the aircraft based on a global positioning reference.

6. The utility model provides a fixed measurement system of aircraft complete machine for control fixed measuring device of aircraft complete machine, its characterized in that includes main control module, flow control module, hardware control module, data analysis module, self-checking module, flow control module is used for making the measurement flow task, main control module carries out task allocation and control to the hardware equipment in the fixed measuring device of aircraft complete machine according to measurement flow task control hardware control module, data analysis module is used for gathering the measurement data of the fixed measuring device of aircraft complete machine in the execution flow task process, and analyzes measurement data in order to obtain the appearance measuring result and the level measuring result of aircraft, self-checking module is used for carrying out the self-checking to main control module, flow control module, hardware control module, data analysis module, the fixed measuring device of aircraft complete machine.

7. The aircraft complete machine fixed measurement system according to claim 6, wherein the main control module comprises a main control unit, a server unit and a protocol communication unit, the main control unit is respectively connected with the protocol communication unit and the self-checking unit through the server unit, and the protocol communication unit performs data communication interaction with the flow control module, the hardware control module, the data analysis module and the self-checking module.

8. The method for measuring the whole machine of the airplane is realized based on a whole machine fixed measuring system of the airplane, and is characterized by comprising the following steps of:

step 1, performing self-checking on a main control module, a flow control module, a hardware control module, a data analysis module and a fixed measuring device of the whole aircraft by a self-checking module, and switching to step 2 after the self-checking is passed;

step 2, the aircraft enters a measurement area, a hardware control module controls a global positioning control device (1) to perform global positioning on the whole aircraft to form a global positioning reference, a rough positioning point is determined through the global positioning reference, and rough positioning is performed on the whole aircraft through the rough positioning point;

step 3, a hardware control module controls a motion device (2) to drive a whole machine measuring device (3) to measure and scan the appearance of the airplane and the horizontal measuring points on the airplane to obtain appearance point clouds and horizontal measuring point coordinates, and the appearance point clouds and the horizontal measuring point coordinates are compared with a standard positioning model of the airplane through a data analysis module so as to accurately position the whole machine of the airplane;

step 4, a hardware control module controls a motion device (2) to drive a complete machine measuring device (3) to move to a horizontal measuring point position on an airplane, a plurality of horizontal measuring points on the airplane are measured and scanned through the complete machine measuring device (3), and horizontal measuring point data and standard horizontal measuring point data are compared through a data analysis module so as to correct a measuring area;

and 5, setting a scanning mode and a scanning path through a flow control module, controlling the movement device (2) to move along the set path by a hardware control module according to the scanning path, and controlling the whole machine measuring device (3) to measure and scan the appearance of the aircraft according to the set scanning mode by the hardware control module according to the scanning mode.

9. The aircraft complete machine fixed measurement method according to claim 8, characterized in that the global positioning control device (1) can cover all measurement positions in a measurement area, and the same measurement position can be simultaneously captured and positioned by at least two global positioning control devices (1); the overlapping part of the positioning areas between two adjacent global positioning control devices (1) accounts for more than or equal to 60 percent of the positioning areas.

10. The method for measuring the whole machine of the airplane fixedly according to claim 9, wherein before the whole machine of the airplane is globally positioned by the global positioning control device (1) to form a global positioning reference, calibration maintenance is performed on the global positioning control device (1), the moving device (2) and the whole machine measuring device (3) in advance.