Research On Relative Postion And Attitude Measurement Method Of Cabin Flange Based On Laser Profile Scanning

In order to improve the assembly efficiency and assembly quality of the cabin segment,automated docking assembly of the cabin segment is an inevitable trend.Many countries are striving and exploring for the realization of this goal,and the United States has already taken the lead in this direction.A mature cabin automation docking assembly line has been used for automatic docking assembly of cabin segments.The premise of automated docking is that the relative position and attitude of the two cabin segments can be known and computable.Therefore,relative position and attitude measurement of the cabin segment flange is the first link to achieve automation docking.This article is to study the relative position and attitude measurement method of the cabin flange.This paper proposes a new method for measuring the relative position and attitude of the cabin flange based on the laser profile scanning according to the actual measurement conditions of the actual engineering project.This method installs two laser profile scanner on both ends of the measuring boom,and the installation direction is opposite.The rotating mechanism drives the measuring boom and then drives the two laser profile scanner to rotate and scans the flange faces of the left and right docking cabins respectively for a round.The flange surface measurement data is obtained and an algorithm is applied to obtain the relative position and attitude relationship of the two cabin segments.This paper compares the new measurement method with the existing two other typical measurement methods and illustrates the advantages of the new proposed method.The measurement model of the newly proposed measurement method was established and its measurement accuracy and measurement range were theoretically analyzed..In this paper,the various links of the measurement data processing of the newly proposed position and attitude measurement method are studied,and the data processing algorithms for each link are designed.In this paper,the input process of the feature point extraction algorithm,spatial circle fitting algorithm and position and attitude solution algorithm are designed in detail.The feature point extraction algorithm includes cylindrical hole boundary points extraction algorithm and flange surface inner and outer boundary points extraction algorithms.This paper builds a complete measurement system.In the process of constructing the measurement system,the mechanical structure design,hardware system construction and software design were performed.The machining and assembly of the mechanical structure,the communication interconnection of the hardware,and the writing,debugging and running of the software were completed.Ten sets of relative position andattitude measurement experiments were performed on the built measurement system.The measurement results were analyzed,and the measurement accuracy of the newly proposed measurement method was finally obtained.