CN-121977518-A - Method for measuring and aligning posture of telescopic mechanism before penetrating in long and narrow scene

CN121977518ACN 121977518 ACN121977518 ACN 121977518ACN-121977518-A

Abstract

The invention discloses a measuring and aligning method for the gesture of a telescopic mechanism before penetrating in a long and narrow scene, which comprises the steps of firstly establishing a coordinate system to convert the gesture adjustment problem of a penetrating target and the telescopic mechanism into the alignment problem of the coordinate system, then calculating the position deviation and the angle deviation of the penetrating target coordinate system and the telescopic mechanism coordinate system, finally adjusting the gesture of the telescopic mechanism according to the deviation, and solving the problem of the gesture alignment of a large-stroke telescopic mechanism and the penetrating target in the prior art.

Inventors

HUANG JINGJIN
HU ZHIYUAN
WANG FEI
CHEN YAHUI
TU FUQUAN
LUO LINGLING
XU WENWEN
LIANG JIE
LIU FAMING
TANG ZIYUAN

Assignees

成都飞机工业（集团）有限责任公司

Dates

Publication Date: 20260505
Application Date: 20260407

Claims (9)

1. The method for measuring and aligning the gesture of the telescopic mechanism before penetrating in the long and narrow scene is characterized by comprising the following steps: step 1, establishing a target coordinate system on a penetrating target, and reading theoretical coordinates of measuring characteristic points of the penetrating target; Step 2, measuring the measurement coordinates of the measurement feature points of the target under a world coordinate system, and measuring the measurement coordinates of the measurement feature points of the telescopic mechanism under the world coordinate system; calculating a first conversion relation between the target coordinate system and the world coordinate system based on the deviation between the theoretical coordinates of the target measurement feature points and the measurement coordinates of the target measurement feature points; Step 4, calculating an attitude deviation characterization value between the target coordinate system and the mechanism coordinate system based on the first conversion relation and the second conversion relation; And 5, adjusting the position of the telescopic mechanism according to the attitude deviation representation value so that the movement axis of the telescopic mechanism is aligned with the axis penetrating into the target.
2. The method for measuring and aligning the attitude of the telescopic mechanism before penetrating in the long and narrow scene according to claim 1, wherein the step 3 specifically comprises the following steps: Step 3.1, calculating a first rotation matrix and a first translation matrix between a target coordinate system and a world coordinate system; Step 3.2, calculating a second rotation matrix and a second translation matrix between the world coordinate system and the mechanism coordinate system; step 3.3, calculating the relative coordinates of the coordinate origin of the target coordinate system under the mechanism coordinate system, and calculating the position deviation based on the relative coordinates and the origin coordinates of the mechanism coordinate system; and 3.4, calculating a first rotation angle of the first rotation matrix under the XYZ rotation sequence, calculating a second rotation angle of the second rotation matrix under the ZYX rotation sequence, and calculating the angle deviation based on the first rotation angle and the second rotation angle.
3. The method for measuring and aligning the attitude of the telescopic mechanism before penetrating in the long and narrow scene according to claim 2, wherein the step 3.3 specifically comprises: Step 3.3.1, extracting an origin coordinate AP0 of a target coordinate system, and converting the origin coordinate AP0 from the target coordinate system to a world coordinate system through a first rotation matrix and a first translation matrix to obtain a converted origin coordinate AW0; Step 3.3.2, converting the converted origin coordinate AW0 from the world coordinate system to the mechanism coordinate system through a second rotation matrix and a second translation matrix to obtain a final origin coordinate AC0; And 3.3.3, extracting a mechanism coordinate BC0 of the tail end center of the movable arm of the telescopic mechanism, and calculating the position deviation through the final origin coordinate AC0 and the mechanism coordinate BC 0.
4. A method for measuring and aligning a telescopic mechanism before penetrating in an elongated scene according to claim 3, wherein the calculation formula of the position deviation is: △t1=AC0-BC0; Wherein Deltat 1 represents position deviation, AC0 represents final origin coordinates, and BC0 represents mechanism coordinates of the center of the end of the movable arm of the telescopic mechanism.
5. The method for measuring and aligning the attitude of the telescopic mechanism before penetrating in the long and narrow scene according to claim 2, wherein the step 3.4 specifically comprises: step 3.4.1, calculating a first triaxial rotation characterization quantity of the target coordinate system rotating to the world coordinate system around the X axis, the Y axis and the Z axis based on the first rotation matrix, and calculating a first rotation angle based on the first triaxial rotation characterization quantity; 3.4.2, calculating a second triaxial rotation characterization quantity of the world coordinate system rotating around the X axis, the Y axis and the Z axis to the mechanism coordinate system based on the second rotation matrix, and calculating a second rotation angle based on the second triaxial rotation characterization quantity; And 3.4.3, calculating the angle deviation based on the first rotation angle and the second rotation angle.
6. The method for measuring and aligning the attitude of the telescopic mechanism before penetrating in the long and narrow scene according to claim 5, wherein the calculation formula of the angle deviation is as follows: △t2=θ1+θ2; wherein Deltat 2 represents the angular deviation, theta 1 represents the first rotation angle, and theta 2 represents the second rotation angle.
7. The method for measuring and aligning the attitude of the telescopic mechanism before penetrating in the long and narrow scene according to any one of claims 2 to 6, wherein the step 3.1 specifically comprises: Step 3.1.1, setting a plurality of different axes of penetrating target characteristic points on the penetrating target, and reading theoretical coordinates and measuring coordinates of the penetrating target characteristic points; Calculating a theoretical centroid based on the theoretical coordinates and calculating a measured centroid based on the measured coordinates, performing centroid removal processing on the theoretical centroid to obtain theoretical centroid removal coordinates, and performing centroid removal processing on the measured centroid to obtain measured centroid removal coordinates; step 3.1.3, establishing an optimized objective function based on theoretical barycenter removing coordinates, measuring barycenter removing coordinates, and carrying out singular value decomposition on the optimized objective function; and 3.1.4, calculating a first rotation matrix and a first translation matrix based on the singular value decomposition result.
8. The method for measuring and aligning the attitude of the telescopic mechanism before penetrating in the long and narrow scene according to claim 7, wherein the step 3.2 specifically comprises: Step 3.2.1, setting a plurality of different axes of telescopic mechanism characteristic points on a fixed arm of the telescopic mechanism, and reading theoretical coordinates and measurement coordinates of the telescopic mechanism characteristic points; calculating a theoretical centroid based on the theoretical coordinates and calculating a measured centroid based on the measured coordinates, performing centroid removal processing on the theoretical centroid to obtain theoretical centroid removal coordinates, and performing centroid removal processing on the measured centroid to obtain measured centroid removal coordinates; step 3.2.3, establishing an optimized objective function based on theoretical barycenter removing coordinates, measuring barycenter removing coordinates, and carrying out singular value decomposition on the optimized objective function; And 3.2.4, calculating a second rotation matrix and a second translation matrix based on the singular value decomposition result.
9. The method for measuring and aligning the attitude of a telescopic mechanism before penetrating in a long and narrow scene according to claim 8, wherein the optimization objective function is: ; Wherein W represents an optimization objective function; - Theoretical centroid coordinates representing n points; - representing the measured centroid coordinates of n points, and T represents the matrix transpose.

Description

Method for measuring and aligning posture of telescopic mechanism before penetrating in long and narrow scene Technical Field The invention belongs to the technical field of posture adjustment of telescopic mechanisms, and particularly relates to a method for measuring and aligning a posture of a telescopic mechanism before penetrating in a long and narrow scene. Background When the telescopic mechanism for a long stroke penetrates into the long and narrow part, the telescopic axis of the telescopic mechanism needs to be aligned with the central axis of the long and narrow part. Once the deviation between the telescopic axis of the telescopic mechanism and the central axis of the long and narrow part is large, the telescopic mechanism is difficult to smoothly penetrate into the long and narrow part, or interference between the telescopic mechanism and the long and narrow part is caused in the penetrating process, and finally the penetrating operation is failed. In the prior art, a component alignment method under the condition of no fixed measurement length is also disclosed, for example, in the patent application with publication number of CN118239003B, a technical scheme of performing posture adjustment alignment on a large component in the assembly process is disclosed. The above-mentioned prior art cannot be applied to a scenario that the pose adjustment mechanism cannot be matched with the real-time establishment of the pose adjustment coordinate system, and the pose adjustment and matching process is implemented in the real-time assembly process of the parts, not before the matching of the parts. In the process of penetrating the long-stroke telescopic mechanism and the long-stroke part, the telescopic mechanism and the inner space of the long-stroke part hardly have an adjusting space, so that the relative position between the long-stroke telescopic mechanism and the long-stroke part is difficult to adjust in the process of assembling. Therefore, aiming at the problems that the existing involution method in the assembly process of parts is not suitable for long stroke, small internal space and no posture adjustment condition in the assembly process, the invention discloses a method for measuring and aligning the posture of a telescopic mechanism before penetrating in a long and narrow scene. Disclosure of Invention The invention discloses a method for measuring and aligning the posture of a telescopic mechanism before penetrating in a long and narrow scene, which can be used for carrying out posture adjustment and alignment on the telescopic mechanism and a penetrating target before assembly, so as to ensure that the telescopic axis of the telescopic mechanism and the central axis of the penetrating target are coaxial before assembly. The invention is realized by the following technical scheme: a method for measuring and aligning the gesture of a telescopic mechanism before penetrating in a long and narrow scene comprises the following steps: step 1, establishing a target coordinate system on a penetrating target, and reading theoretical coordinates of measuring characteristic points of the penetrating target; Step 2, measuring the measurement coordinates of the measurement feature points of the target under a world coordinate system, and measuring the measurement coordinates of the measurement feature points of the telescopic mechanism under the world coordinate system; calculating a first conversion relation between the target coordinate system and the world coordinate system based on the deviation between the theoretical coordinates of the target measurement feature points and the measurement coordinates of the target measurement feature points; Step 4, calculating an attitude deviation characterization value between the target coordinate system and the mechanism coordinate system based on the first conversion relation and the second conversion relation; And 5, adjusting the position of the telescopic mechanism according to the attitude deviation representation value so that the movement axis of the telescopic mechanism is aligned with the axis penetrating into the target. In order to better implement the present invention, further, the step 3 specifically includes: Step 3.1, calculating a first rotation matrix and a first translation matrix between a target coordinate system and a world coordinate system; Step 3.2, calculating a second rotation matrix and a second translation matrix between the world coordinate system and the mechanism coordinate system; step 3.3, calculating the relative coordinates of the coordinate origin of the target coordinate system under the mechanism coordinate system, and calculating the position deviation based on the relative coordinates and the origin coordinates of the mechanism coordinate system; and 3.4, calculating a first rotation angle of the first rotation matrix under the XYZ rotation sequence, calculating a second rotation angle of the second rotation matrix