CN-121978935-A - Station planning method, device and equipment for laser tracker and storage medium

CN121978935ACN 121978935 ACN121978935 ACN 121978935ACN-121978935-A

Abstract

The invention discloses a laser tracker station planning method, device, equipment and storage medium, which comprise the steps of obtaining the number of laser tracker stations to be planned, a measurement control field model and coordinates of each target measurement point in the measurement control field, generating an initial station planning result corresponding to the laser tracker according to preset station constraint conditions, the number of stations, the measurement control field model and the coordinates of each target measurement point, optimizing the initial station planning result according to a target function by adopting a genetic algorithm, then carrying out shielding judgment on each laser tracker station and the corresponding target measurement point in the optimized result, and outputting a target station planning result corresponding to the laser tracker according to the judgment result. The technical scheme of the embodiment of the invention can greatly improve the measurement efficiency of the laser tracker and the accuracy of the measurement result.

Inventors

LU GU
GUAN XIAO
LIU SIREN
XING HONGWEN

Assignees

上海飞机制造有限公司

Dates

Publication Date: 20260505
Application Date: 20260130

Claims (10)

1. A method for planning a station of a laser tracker, the method comprising: Acquiring the number of station positions of a laser tracker to be planned, a measurement control field model and coordinates of each target measurement point in the measurement control field; Generating an initial station planning result corresponding to the laser tracker according to preset station constraint conditions, the number of stations, a measurement control field model and coordinates of each target measurement point; and optimizing the initial station planning result according to an objective function by adopting a genetic algorithm, then judging shielding of each laser tracker station and a corresponding target measurement point in the optimized result, and outputting a target station planning result corresponding to the laser tracker according to the judging result.
2. The method of claim 1, further comprising, before generating an initial site planning result corresponding to the laser tracker according to a preset site constraint condition, the number of sites, a measurement control field model, and coordinates of each target measurement point: according to the range of the measurement control field and the attribute information of the laser tracker, a first constraint condition and a second constraint condition corresponding to the station position of the laser tracker are established; The first constraint condition comprises a space coordinate range corresponding to the station position of the laser tracker, and the second constraint condition comprises the farthest distance between the station position of the laser tracker and the target measuring point and a vertical angle range of the target measuring point relative to the station position of the laser tracker.
3. The method of claim 1, further comprising, after obtaining the measurement control field model and coordinates of each target measurement point in the measurement control field: Unifying the coordinates of each target measurement point to be under a target coordinate system, and converting the measurement control field model into a wavefront object file (OBJ) format; The measurement control field model in the OBJ format is composed of a plurality of triangular curved surfaces.
4. The method of claim 1, wherein optimizing the initial site planning result according to an objective function using a genetic algorithm comprises: establishing the objective function by taking the minimum sum of the distances between each laser tracker station and the corresponding target measuring points in the initial station planning result as a target; and carrying out iterative adjustment on the space coordinates of each laser tracker station in the initial station planning result by adopting a genetic algorithm according to the objective function to obtain an optimization result corresponding to the laser tracker station.
5. A method according to claim 3, wherein the step of performing shielding discrimination on each laser tracker station and the corresponding target measurement point in the optimized result, and outputting the target station planning result corresponding to the laser tracker according to the discrimination result comprises the steps of: Judging whether each laser tracker station position in the optimization result and a corresponding target measurement point are shielded or not by adopting a point-plane intersection algorithm according to the measurement control field model in the OBJ format; If not, establishing a mapping relation between the station position of the laser tracker and the corresponding target measuring point, and generating a target station position planning result corresponding to the laser tracker according to the mapping relation; The target station planning result comprises the space coordinates of each laser tracker station and the corresponding target measuring point numbers of each laser tracker station.
6. The method according to claim 5, wherein determining whether each laser tracker station in the optimization result is blocked from a corresponding target measurement point by using a point-to-plane intersection algorithm according to the measurement control field model in OBJ format comprises: Generating measuring rays corresponding to the station positions of the laser trackers according to the space coordinates of the station positions of the laser trackers in the optimization result; According to the measurement control field model in the OBJ format, calculating the intersection point of each measurement ray and each triangular curved surface in a three-dimensional space by adopting a point-plane intersection algorithm; judging whether each laser tracker station position and the corresponding target measuring point in the optimizing result are shielded or not according to the position of the intersection point.
7. A laser tracker station planning apparatus, the apparatus comprising: the data acquisition module is used for acquiring the number of the station positions of the laser tracker to be planned, the measurement control field model and the coordinates of each target measurement point in the measurement control field; The initial planning module is used for generating an initial station planning result corresponding to the laser tracker according to preset station constraint conditions, the number of stations, the measurement control field model and the coordinates of each target measurement point; And the planning result optimizing module is used for optimizing the initial station planning result according to the objective function by adopting a genetic algorithm, then carrying out shielding judgment on each laser tracker station and the corresponding target measuring point in the optimizing result, and outputting the target station planning result corresponding to the laser tracker according to the judgment result.
8. An electronic device, the electronic device comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the laser tracker site planning method of any of claims 1-6.
9. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, the computer instructions for causing a processor to perform the laser tracker site planning method of any of claims 1-6 when executed.
10. A computer program product, characterized in that the computer program product comprises a computer program which, when executed by a processor, implements the laser tracker site planning method of any of claims 1-6.

Description

Station planning method, device and equipment for laser tracker and storage medium Technical Field The invention relates to the technical field of large-size digital measurement, in particular to a station planning method, a device, equipment and a storage medium of a laser tracker. Background At present, the laser tracker has become one of the most widely applied large-size measuring instruments in the field of aviation digital measurement due to the advantages of high precision, large range, high efficiency and the like. In the aircraft assembly process, because the on-site working condition is complicated, the measuring light path of the laser tracker is often blocked by parts or tool type frames and the like, so that some points cannot be measured in the measurement process, a multi-station laser tracker cooperative measurement mode is required to be adopted to construct a measurement control field covering the whole assembly space, and further, all key characteristic measurements of large parts of the aircraft are realized. Because conditions such as measurement distance, measurement angle, ambient temperature under different stations have direct influence on measurement efficiency and measurement accuracy of the laser tracker, the traditional station arrangement mode generally relies on staff to rely on measurement experience or repeated test to determine the quantity and the position of instrument arrangement, and the mode efficiency is low, the process is tedious, and the accuracy and the measurement demand of measuring result are difficult to guarantee. Disclosure of Invention The invention provides a station planning method, a device, equipment and a storage medium for a laser tracker, which can greatly improve the measurement efficiency of the laser tracker and the accuracy of a measurement result, and can be effectively applied to assembly scenes of large-scale mechanical products such as airplanes in the aerospace field. According to an aspect of the present invention, there is provided a laser tracker station planning method, the method comprising: Acquiring the number of station positions of a laser tracker to be planned, a measurement control field model and coordinates of each target measurement point in the measurement control field; Generating an initial station planning result corresponding to the laser tracker according to preset station constraint conditions, the number of stations, a measurement control field model and coordinates of each target measurement point; and optimizing the initial station planning result according to an objective function by adopting a genetic algorithm, then judging shielding of each laser tracker station and a corresponding target measurement point in the optimized result, and outputting a target station planning result corresponding to the laser tracker according to the judging result. Optionally, before generating the initial station planning result corresponding to the laser tracker according to the preset station constraint condition, the number of stations, the measurement control field model and the coordinates of each target measurement point, the method further includes: according to the range of the measurement control field and the attribute information of the laser tracker, a first constraint condition and a second constraint condition corresponding to the station position of the laser tracker are established; The first constraint condition comprises a space coordinate range corresponding to the station position of the laser tracker, and the second constraint condition comprises the farthest distance between the station position of the laser tracker and the target measuring point and a vertical angle range of the target measuring point relative to the station position of the laser tracker. Optionally, after acquiring the measurement control field model and coordinates of each target measurement point in the measurement control field, the method further includes: Unifying the coordinates of each target measurement point to be under a target coordinate system, and converting the measurement control field model into a wavefront object file (OBJ) format; The measurement control field model in the OBJ format is composed of a plurality of triangular curved surfaces. Optionally, optimizing the initial station planning result according to an objective function by adopting a genetic algorithm, including: establishing the objective function by taking the minimum sum of the distances between each laser tracker station and the corresponding target measuring points in the initial station planning result as a target; and carrying out iterative adjustment on the space coordinates of each laser tracker station in the initial station planning result by adopting a genetic algorithm according to the objective function to obtain an optimization result corresponding to the laser tracker station. Optionally, shielding judgment is performed on each station position of