期刊首页 优先出版 当期阅读 过刊浏览 作者中心 关于期刊 English

《工程(英文)》 >> 2022年 第19卷 第12期 doi: 10.1016/j.eng.2021.02.023

基于自动原位校准的大型飞机构件装配过程三维微位移监测系统

School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China

收稿日期: 2020-04-03 修回日期: 2020-07-20 录用日期: 2021-02-21 发布日期: 2021-11-02

下一篇 上一篇

摘要

三维(3D)微位移监测在大型飞机装配中起着至关重要的作用。本文提出了一种广泛适用的基于接近传感器的高精度在线3D微位移监测方法和系统,以及相应的原位校准方法,可应用于飞机装配过程中遇到的各种极端工作条件,如紧凑和遮挡的空间。首先建立了一个3D监测模型,仅基于接近传感器测量的一
维距离实现3D微位移监测,该模型涉及传感器外部参数,如测量原点(PBP)和单位位移矢量(UDV)。然后,结合空间变换原理和加权优化校准方法,获得高精度外部参数。最后,针对尾翼装配过程开展了校准和监测实验。PBP 的校准精度在XY 方向优于±10 μm,在Z 方向优于±2 μm,UDV 的校准精度优于0.07°。此外,3D微位移监测系统的精度可达到±15 μm。总体而言,本文为基于接近传感器的3D微位移监测的建模和校准提供了新的见解,并为飞机装配过程中紧凑空间内的几何测量提供了一种高精度、高效率、低成本的技术手段。

图片

图1

图2

图3

图4

图5

图6

图7

图8

图9

图10

图11

图12

参考文献

[ 1 ] Müller R, Esser M, Vette M. Reconfigurable handling systems as an enabler for large components in mass customized production. J Intell Manuf 2013;24(5):977‒90. 链接1

[ 2 ] McKenna V, Jin Y, Murphy A, Morgan M, Fu R, Qin X, et al. Cost-oriented process optimisation through variation propagation management for aircraft wing spar assembly. Robot Comput Integr Manuf 2019;57:435‒51. 链接1

[ 3 ] Yu L, Zhang Y, Bi Q, Wang Y. Research on surface normal measurement and adjustment in aircraft assembly. Precis Eng 2017;50:482‒93. 链接1

[ 4 ] Deng Z, Huang X, Li S, Xing H. On-line calibration and uncertainties evaluation of spherical joint positions on large aircraft component for zero-clearance posture alignment. Robot Comput Integr Manuf 2019;56:38‒54. 链接1

[ 5 ] Zhong RY, Xu X, Klotz E, Newman ST. Intelligent manufacturing in the context of Industry 4.0: a review. Engineering 2017;3(5):616‒30. 链接1

[ 6 ] Bao Y, Chen Z, Wei S, Xu Y, Tang Z, Li H. The state of the art of data science and engineering in structural health monitoring. Engineering 2019;5(2):234‒42. 链接1

[ 7 ] Chen Z, Du F. Measuring principle and uncertainty analysis of a large volume measurement network based on the combination of iGPS and portable scanner. Measurement 2017;104:263‒77. 链接1

[ 8 ] Hoang VD, Jo KH. A simplified solution to motion estimation using an omnidirectional camera and a 2D LRF sensor. IEEE Trans Ind Inform 2016;12(3):1064‒73. 链接1

[ 9 ] An Yi, Li Bo, Hu H, Zhou X. Building an omnidirectional 3D color laser ranging system through a novel calibration method. IEEE Trans Ind Electron 2019;66(11):8821‒31. 链接1

[10] Lei P, Zheng L. An automated in situ alignment approach for finish machining assembly interfaces of large-scale components. Robot Comput Integr Manuf 2017;46:130‒43. 链接1

[11] Pérez Muñoz P, Albajez García JA, Santolaria Mazo J. Analysis of the initial thermal stabilization and air turbulences effects on laser tracker measurements. J Manuf Syst 2016;41:277‒86. 链接1

[12] Schmitt RH, Peterek M, Morse E, Knapp W, Galetto M, Härtig F, et al. Advances in large-scale metrology—review and future trends. CIRP Ann 2016;65(2):643‒65. 链接1

[13] Li X, Li X, Ge SS, Khyam MO, Luo C. Automatic welding seam tracking and identification. IEEE Trans Ind Electron 2017;64(9):7261‒71. 链接1

[14] Wang Z. An imaging and measurement system for robust reconstruction of weld pool during arc welding. IEEE Trans Ind Electron 2015;62(8):5109‒18. 链接1

[15] Spencer BF, Hoskere V, Narazaki Y. Advances in computer vision-based civil infrastructure inspection and monitoring. Engineering 2019;5(2):199‒222. 链接1

[16] Lee T, Kim C, Cho DD. A monocular vision sensor-based efficient SLAM method for indoor service robots. IEEE Trans Ind Electron 2019;66(1):318‒28. 链接1

[17] Xu Y, Gao F, Jiang X. Performance analysis and evaluation of geometric parameters in stereo deflectometry. Engineering 2018;4(6):806‒15. 链接1

[18] Cervera A, Ezra O, Kuperman A, Peretz MM. Modeling and control of magnetic actuation systems based on sensorless displacement information. IEEE Trans Ind Electron 2019;66(6):4849‒59. 链接1

[19] Caetano DM, Rabuske T, Fernandes J, Pelkner M, Fermon C, Cardoso S, et al. High-resolution nondestructive test probes based on magnetoresistive sensors. IEEE Trans Ind Electron 2019;66(9):7326‒37. 链接1

[20] Peng K, Yu Z, Liu X, Chen Z, Pu H. Features of capacitive displacement sensing that provide high-accuracy measurements with reduced manufacturing precision. IEEE Trans Ind Electron 2017;64(9):7377‒86. 链接1

[21] Uekita M, Takaya Y. On-machine dimensional measurement of large parts by compensating for volumetric errors of machine tools. Precis Eng 2016;43:200‒10. 链接1

[22] Kim YK, Kim KS, Kim S. A portable and remote 6-DOF pose sensor system with a long measurement range based on 1-D laser sensors. IEEE Trans Ind Electron 2015;62(9):5722‒9. 链接1

[23] Liu S, Xu De, Zhang D, Zhang Z. High precision automatic assembly based on microscopic vision and force information. IEEE Trans Autom Sci Eng 2016;13(1):382‒93. 链接1

[24] Kim YK, Kim Y, Jung YS, Jang IG, Kim KS, Kim S, et al. Developing accurate long-distance 6-DOF motion detection with one-dimensional laser sensors: three-beam detection system. IEEE Trans Ind Electron 2013;60(8):3386‒95.

[25] Zapico P, Fernández P, Rico JC, Valiño G, Patiño H. Extrinsic calibration of a conoscopic holography system integrated in a CMM. Precis Eng 2018;52:484‒93. 链接1

[26] Liu W, Wang T, Liang B, Feng Di, Jiang X, Zhang Y, et al. Measurement of three-dimensional information by single eddy current displacement sensor. IEEE Sens J 2019;19(9):3543‒52. 链接1

[27] BI C, Fang J, LI K, Guo Z. Extrinsic calibration of a laser displacement sensor in a non-contact coordinate measuring machine. Chin J Aeronaut 2017;30(4):1528‒37. 链接1

[28] Bi C, Liu Y, Fang J, Guo X, Lv L, Dong P. Calibration of laser beam direction for optical coordinate measuring system. Measurement 2015;73:191‒9. 链接1

[29] Wu L, Ren H. Finding the kinematic base frame of a robot by hand-eye calibration using 3D position data. IEEE Trans Autom Sci Eng 2017;14(1):314‒24. 链接1

[30] Guo Y, Song B, Tang X, Zhou X, Jiang Z. A measurement method for calibrating kinematic parameters of industrial robots with point constraint by a laser displacement sensor. Meas Sci Technol 2020;31(7):075004. 链接1

[31] Sharifzadeh S, Biro I, Kinnell P. Robust hand-eye calibration of 2D laser sensors using a single-plane calibration artefact. Robot Comput Integr Manuf 2020;61:101823. 链接1

[32] Zou Y, Lan R. An end-to-end calibration method for welding robot laser vision systems with deep reinforcement learning. IEEE Trans Instrum Meas 2020;69(7):4270‒80. 链接1

[33] Liang B, Liu W, Jiang X, Feng D, Liu K, Zhou M, et al. A novel automatic calibration method for displacement sensors based on the spatial transformation theory. In: Proceedings of 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics; 2019 Jul 8‒12; Hong Kong, China; 2019. 链接1

相关研究