CN208223418U - A kind of intelligent vision measuring system for aero-engine installation - Google Patents
A kind of intelligent vision measuring system for aero-engine installation Download PDFInfo
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- CN208223418U CN208223418U CN201820101614.2U CN201820101614U CN208223418U CN 208223418 U CN208223418 U CN 208223418U CN 201820101614 U CN201820101614 U CN 201820101614U CN 208223418 U CN208223418 U CN 208223418U
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Abstract
The utility model relates to a kind of intelligent vision measuring systems for aero-engine installation, the aero-engine is fixed on trolley, engine installation cabin fixed setting on the support frame, the system include be arranged in trolley front end face multiple laser range sensors and vision camera, be vertically arranged in below engine installation cabin target, Target Center is set and the laser emitter vertical with target and connect the controller for controlling moving of car with laser range sensor and vision camera.Compared with prior art, the utility model changes the measurement method that previous artificial eye is estimated and makes repeated attempts, and without installing any auxiliary sign object on the engine, measurement original part does not need to occupy any key position point, make entire measurement process continuous-stable, lays the foundation for subsequent control.
Description
Technical field
The utility model relates to airspace engine technical fields, and in particular to a kind of intelligence for aero-engine installation
Vision measurement system.
Background technique
Aero-engine is the core of aircraft power system, and engine is mounted in aircraft assembly and occupies an important position, pacifies
Packing quality has very big influence to aeroplane performance.Aero-engine is with volume weight is big, precise structure is complicated, installation gap is small
The features such as, and surface is covered with complicated pipeline, installation track is complicated, so that high quality, efficient engine are mounted for flying
One of maximum difficult point in machine assembly.The country generallys use the installation exercise that manual mode carries out aero-engine, master at present
There are problems that the following aspects.
(1) the degree of automation is low:, can only be by manpower to the position and attitude of engine in entire engine installation process
It is repeated and manually adjusts, and multi-shaft interlocked cannot adjust, take time and effort, large labor intensity.
(2) posture adjustment precision is low: without accurately SERVO CONTROL during the position and attitude adjustment of engine, can only rely on people
Operating experience, without accurately measurement and feedback, can only rely on people visual observation, precision is low, poor reliability, and is easy to knock
Touch engine.
(3) installation effectiveness is low: the installation of engine needs multi-person synergy to observe and operate, and is easy to happen maloperation and returns
Work installs an engine and needs several hours.Domestic aero-engine craft Installation Modes are still in relatively low technology
Level, and external aircraft manufacturing company such as Lockheed Martin, Boeing, Air Passenger etc., are all applied in aero-engine installation
Automation installation method and equipment substantially increase the quality and efficiency of engine installation.
Also occurred the testing and control project of view-based access control model measuring technique, core dispersed placement in the industry.Annulus target is fixed
It is concentric with motor head in aero-engine front end, play the role of determining engine location and posture；Monitoring platform is placed
Installation cabin front end (close to aircraft air inlet side), the annulus target for being fixed on motor head and installation cabin profile are carried out
Image Acquisition, and collection result is transferred to host.This scenario-frame is complicated, erroneous for installation, is unfavorable for repetitive operation and makes
With.Further, since monitoring platform is located at installation cabin front end, this position is overlapped with the target position that aero-engine is installed, makes whole
A installation process can not be realized completely.Accurate positioning in end needs to assist other measurement schemes.
Utility model content
The purpose of this utility model be exactly in order to overcome the problems of the above-mentioned prior art and provide a kind of measurement it is accurate,
The intelligent vision measuring system for aero-engine installation of strong applicability.
The purpose of this utility model can be achieved through the following technical solutions: a kind of intelligence for aero-engine installation
Energy vision measurement system, the aero-engine are fixed on trolley, and engine installation cabin is fixedly installed on the support frame,
The system include be arranged in trolley front end face multiple laser range sensors and vision camera, be vertically arranged in engine installation
Target below cabin, Target Center is set and the laser emitter vertical with target and with laser range sensor and vision
Camera connects the controller for controlling moving of car.The working principle of this system is as follows: it is close that trolley loads aero-engine
During engine installs cabin, aero-engine is detected by the setting of laser range sensor and target and engine is pacified
Whether the central axes of stowage are parallel, and aero-engine and engine installation cabin are detected by laser emitter and vision camera is
The translation of no needs and rotation, then signal is passed to controller by laser range sensor and vision camera, and controller is computed
The operation of trolley is controlled afterwards, to transporting aero-engine to the lower section in engine installation cabin, engine is ramped
Matching enters in engine installation cabin, and whole process is high-efficient entirely by Machine automated completion, and precision is high.
The target is fixed at below the air inlet in engine installation cabin, and plane where target and engine are pacified
The central axes of stowage are vertical.The posture in engine installation cabin is transferred on target, vision camera and laser range sensor are surveyed
The status data between engine and target is measured, the state reference between cabin and aero-engine is installed as engine.
The quantity of the laser range sensor is 3, and two of them are arranged in trolley front end face top edge, another
The center of trolley front end lower edge is set.The distance between itself and target are measured respectively by three laser range sensors,
To obtain the angle of trolley front end face and target place plane, is then adjusted the angle by trolley, make trolley front end face and mark
Target keeping parallelism, to be perpendicular to what engine installation cabin entrance entered after guaranteeing that aero-engine reaches installation site.
The vision camera is fixed at the center for the triangle being made of three laser range sensors.Vision phase
Machine obtains the feature laser beam that laser beam transmitter issues, and is supplied to controller and is analyzed and calculated, before vision camera
End is equipped with camera lens, for collecting the laser beam of laser emitter sending, adjusts the path of light refraction.
The bracket that the top of the trolley is equipped with six degree of freedom posture adjustment platform and is arranged on six degree of freedom posture adjustment platform,
The engine is fixedly mounted on bracket.
The six degree of freedom posture adjustment platform includes the horizontal rail vertical with moving of car direction, is slidably arranged in horizontal rail
Horizontal revolving stage on road and the multiple elevating levers being arranged on horizontal revolving stage.
The laser emitter includes being arranged in conplane multiple luminous points.Vision camera receives the signal of multiple luminous points
Afterwards, and in vision camera it carries out imaging and picture obtains, then visual analysis and Attitude Calculation are carried out by integral type industrial personal computer, obtain
Obtain the real-time attitude data value between aero-engine and engine installation cabin.
The controller is the integral type industrial personal computer being arranged on trolley.Controller is the core calculations list of whole system
Member obtains the data value of vision camera in real time, calculates the attitude data between engine and rectangular target, including 6 freedom degrees
Signal data value.
This system obtains the feature laser beam that laser emitter issues by camera lens, and carry out in vision camera imaging and
Picture obtains, then carries out visual analysis and Attitude Calculation by integral type industrial personal computer, obtains aero-engine and engine installs cabin
Between real-time attitude data value.For the stability for guaranteeing vision system imaging and calculating, three laser range sensors pass through 3
Point type range measurement obtains the verticality between engine central axes and rectangular target, using the real time data of the verticality as
The compensating parameter of vision measurement promotes the videogrammetry system of whole system.Finally, whole system energy output engine with it is rectangular
The real time data of 6 freedom degrees in space between target, the data can be used as engine and install the reference of posture between cabin.
Compared with prior art, the beneficial effects of the utility model are embodied in following several respects:
(1) easy for installation, flexible operation: the measurement method that previous artificial eye is estimated and makes repeated attempts is changed, is not necessarily to
Any auxiliary sign object is installed on the engine, measurement original part does not need to occupy any key position point, makes entire measurement process
Continuous-stable lays the foundation for subsequent control；
(2) measurement is accurate, and real-time is high: whole the advantages of combined high precision laser range sensor and vision measurement system
Set mechanism is able to achieve the positioning accuracy of 0.1mm, and the optical lens of vision camera can obtain the laser of laser generator generation in real time
Beam, powerful integral type industry control function read the pictorial information in vision camera in real time, and every 50ms completes primary candid photograph and calculates
Work；
(3) widely applicable, measure distance: since vision lens only obtain the information of laser beam, entire measuring system
Interference free performance be greatly improved, reduce the influence of environment light, also improve indirectly camera crawl characteristic point ability.
In addition, the camera lens that auxiliary is special, can effectively increase the adaptability of the camera depth of field, maximum can accomplish 7 meters.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the laser beam characteristic pattern of laser emitter.
Wherein, 1 is trolley, and 2 be six degree of freedom posture adjustment platform, and 3 be bracket, and 4 be aero-engine, and 5 install for engine
Cabin, 6 be target, and 7 be laser range sensor, and 8 be vision camera, and 9 be support frame, and 10 be engine intake, and 11 be laser
Transmitter, 12 be auxiliary spot, and 13 be center luminous point.
Specific embodiment
It elaborates below to the embodiments of the present invention, the present embodiment before being with technical solutions of the utility model
It puts and is implemented, the detailed implementation method and specific operation process are given, but the protection scope of the utility model is unlimited
In following embodiments.
Embodiment 1
A kind of intelligent vision measuring system for aero-engine installation, aero-engine 4 are fixed on trolley 1, are sent out
Motivation installation cabin 5 is fixed on support frame 9, and structure is as shown in Figure 1, include that the multiple of 1 front end face of trolley are arranged in swash
Ligh-ranging sensor 7 and vision camera 8, the target 6 for being vertically arranged in 5 lower section of engine installation cabin, setting at 6 center of target and
The laser emitter 11 vertical with target 6 and connecting with laser range sensor 7 and vision camera 8 is transported for controlling trolley 1
Dynamic controller.
Wherein, target 6 is fixed at 10 lower section of engine intake in engine installation cabin 5, and 6 place plane of target
It is vertical with the engine installation central axes in cabin 5.By engine installation cabin 5 posture be transferred on target 6, vision camera 8 and swash
Ligh-ranging sensor 7 measures the status data between engine and target 6, as engine installation cabin 5 and aero-engine 4 it
Between state reference.
The quantity of laser range sensor 7 is 3, and two of them setting is in 1 front end face top edge of trolley, another setting
In the center of 1 front end lower edge of trolley.The distance between itself and target 6 are measured respectively by three laser range sensors 7, from
And obtain the angle of 1 front end face of trolley Yu 6 place plane of target, then adjusted the angle by trolley 1, make 1 front end face of trolley with
6 keeping parallelism of target, to be perpendicular to engine installation 5 entrance of cabin after guaranteeing that aero-engine 4 reaches installation site and enter
's.Vision camera 8 is fixed at the center for the triangle being made of three laser range sensors 7.The top of trolley 1 is equipped with
Six degree of freedom posture adjustment platform 2 and the bracket 3 being arranged on six degree of freedom posture adjustment platform 2, engine are fixedly mounted on bracket 3
On.
Six degree of freedom posture adjustment platform 2 includes the horizontal rail vertical with 1 direction of motion of trolley, is slidably arranged in horizontal rail
On horizontal revolving stage and multiple elevating levers for being arranged on horizontal revolving stage.
Laser emitter 11 includes being arranged in conplane multiple luminous points, a pipper 13 including center and
Two auxiliary spots 12, as shown in Fig. 2, after vision camera 8 receives the signals of multiple luminous points, and carry out in vision camera 8 at
Picture and picture obtain, then carry out visual analysis and Attitude Calculation by integral type industrial personal computer, obtain aero-engine 4 and engine is pacified
Real-time attitude data value between stowage 5.
Controller is the integral type industrial personal computer being arranged on trolley 1.
The working principle of this system is as follows: trolley 1 load aero-engine 4 close to engine install cabin 5 during, lead to
The setting of laser range sensor 7 and target 6 is crossed to detect whether aero-engine 4 and the central axes in engine installation cabin 5 put down
Row, detected by laser emitter 11 and vision camera 8 aero-engine 4 and engine installation cabin 5 whether need translate and
Rotation, then signal is passed to controller by laser range sensor 7 and vision camera 8, and controller controls trolley 1 after being computed
Operation, thus by aero-engine 4 transport to engine installation cabin 5 lower section, engine, which ramps, can match entrance
Engine is installed in cabin 5, and whole process is high-efficient entirely by Machine automated completion, and precision is high.
Claims (8)
1. a kind of intelligent vision measuring system for aero-engine installation, the aero-engine are fixed on trolley, institute
State engine installation cabin fixed setting on the support frame, which is characterized in that the system includes trolley front end face is arranged in multiple
Laser range sensor and vision camera, the target being vertically arranged in below engine installation cabin, setting Target Center and with
The vertical laser emitter of target and the control for controlling moving of car is connect with laser range sensor and vision camera
Device.
2. a kind of intelligent vision measuring system for aero-engine installation according to claim 1, which is characterized in that
The target is fixed at below the air inlet in engine installation cabin, and in plane where target and engine installation cabin
Axis is vertical.
3. a kind of intelligent vision measuring system for aero-engine installation according to claim 1, which is characterized in that
The quantity of the laser range sensor is 3, and in trolley front end face top edge, another is arranged small for two of them setting
The center of Chinese herbaceous peony end lower edge.
4. a kind of intelligent vision measuring system for aero-engine installation according to claim 3, which is characterized in that
The vision camera is fixed at the center for the triangle being made of three laser range sensors.
5. a kind of intelligent vision measuring system for aero-engine installation according to claim 1, which is characterized in that
The bracket that the top of the trolley is equipped with six degree of freedom posture adjustment platform and is arranged on six degree of freedom posture adjustment platform, it is described to start
Machine is fixedly mounted on bracket.
6. a kind of intelligent vision measuring system for aero-engine installation according to claim 5, which is characterized in that
The water that the six degree of freedom posture adjustment platform includes the horizontal rail vertical with moving of car direction, is slidably arranged in horizontal rail
Flat turn platform and the multiple elevating levers being arranged on horizontal revolving stage.
7. a kind of intelligent vision measuring system for aero-engine installation according to claim 1, which is characterized in that
The laser emitter includes being arranged in conplane multiple luminous points.
8. a kind of intelligent vision measuring system for aero-engine installation according to claim 1, which is characterized in that
The controller is the integral type industrial personal computer being arranged on trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820101614.2U CN208223418U (en) | 2018-01-22 | 2018-01-22 | A kind of intelligent vision measuring system for aero-engine installation |
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| CN201820101614.2U CN208223418U (en) | 2018-01-22 | 2018-01-22 | A kind of intelligent vision measuring system for aero-engine installation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111112981A (en) * | 2020-01-13 | 2020-05-08 | 苏州崮麓智能设备有限公司 | Equipment and method for automatically installing license plate by robot |
| CN113618390A (en) * | 2021-08-20 | 2021-11-09 | 西北工业大学 | Vertical automatic assembly centering device for aero-engine and use method thereof |
| CN117516485A (en) * | 2024-01-04 | 2024-02-06 | 东北大学 | Pose vision measurement method for automatic guiding and mounting of aircraft engine |
-
2018
- 2018-01-22 CN CN201820101614.2U patent/CN208223418U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111112981A (en) * | 2020-01-13 | 2020-05-08 | 苏州崮麓智能设备有限公司 | Equipment and method for automatically installing license plate by robot |
| CN113618390A (en) * | 2021-08-20 | 2021-11-09 | 西北工业大学 | Vertical automatic assembly centering device for aero-engine and use method thereof |
| CN117516485A (en) * | 2024-01-04 | 2024-02-06 | 东北大学 | Pose vision measurement method for automatic guiding and mounting of aircraft engine |
| CN117516485B (en) * | 2024-01-04 | 2024-03-22 | 东北大学 | Pose vision measurement method for automatic guiding and mounting of aircraft engine |
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