基于组合测量的大尺度产品柔性检测技术
|
摘要
针对大型复杂产品检测具有的多尺度特征并存、多源测量数据融合特点,提出一种基于组合测量的大尺度产品柔性检测技术,构建具备广域移动、局域精准执行和末端高精度检测特性的柔性测量单元,以实现柔性化和自动化在线检测。进行柔性测量单元测量精度优化问题建模,并分析其在固定站位下的测量空间范围及测量精度分布。提出基于柔性测量单元的大尺度产品柔性检测方法,通过K-均值聚类分析实现测量站位规划,并给出基于测量数据反馈的自适应控制策略。设计开发了面向装配阶差与间隙检测的柔性检测系统,通过标准试块检测试验及其精度分析,验证了所提技术方法的可行性与有效性。
To match the requirement of multiscale feature coexistence and multisource measurement data fusion, based on combined measurement, a flexible inspection method for large-scale product was put forward for onsite automated inspection. According to this method, a flexible measurement unit framework was presented to make the unit realize wide-area movement, local precise execution and end high-accuracy inspection. The optimization model of flexible measurement unit was formulated to analyze the unit measurement space and its measurement uncertainties. Based on the analysis, a large-scale product flexible inspection method was researched, in which a measurement station planning algorithm based on K-means clustering and an adaptive control strategy based on measurement data were proposed. An experimental flexible inspection system was self-designed and developed. The assembly stepped difference and gap inspection was taken as an example, whose inspection results demonstrated the feasibility and validity of this technology.
To match the requirement of multiscale feature coexistence and multisource measurement data fusion, based on combined measurement, a flexible inspection method for large-scale product was put forward for onsite automated inspection. According to this method, a flexible measurement unit framework was presented to make the unit realize wide-area movement, local precise execution and end high-accuracy inspection. The optimization model of flexible measurement unit was formulated to analyze the unit measurement space and its measurement uncertainties. Based on the analysis, a large-scale product flexible inspection method was researched, in which a measurement station planning algorithm based on K-means clustering and an adaptive control strategy based on measurement data were proposed. An experimental flexible inspection system was self-designed and developed. The assembly stepped difference and gap inspection was taken as an example, whose inspection results demonstrated the feasibility and validity of this technology.
引文
[1] MAROPOULOS P G,MUELANER J E,SUMMERS M D,et al.A new paradigm in large-scale assembly-research priorities in measurement assisted assembly[J].International Journal of Advanced Manufacturing Technology,2014,70(1/2/3/4):621-633.
[2] CHEN Zhehan,DU Fuzhou,TANG Xiaoqing.Key measurement characteristics based inspection data modeling for aircraft assembly[J].Acta Aeronautica et Astronautica Sinica,2012,33(11):2143-2152(in Chinese).[陈哲涵,杜福洲,唐晓青.基于关键测量特性的飞机装配检测数据建模研究[J].航空学报,2012,33(11):2143-2152.]
[3] YU Fengjie,YU Cijun,WANG Qing,et al.Accuracy analysis with limited samples during aircraft automatic join-assembly[J].Computer Integrated Manufacturing Systems,2009,15(4):741-750(in Chinese).[余峰杰,俞慈君,王青,等.飞机自动化对接中装配准确度的小样本分析[J].计算机集成制造系统,2009,15(4):741-750.]
[4] WANG Qing,LIANG Qin,LI Jiangxiong,et al.Estimation and alignment method of wing position and orientation for aircraft digital assembly[J].Journal of Zhejiang University :Engineering Science,2014,48(7):1287-1294(in Chinese).[王青,梁琴,李江雄,等.飞机数字化装配机翼姿态评价及调整方法[J].浙江大学学报:工学版,2014,48(7):1287-1294.]
[5] DU Fuzhou,CHEN Zhehan,TANG Xiaoqing.Precision analysis of iGPS measurement field and its application[J].Acta Aeronautica et Astronautica Sinica,2012,33(9):1737-1745(in Chinese).[杜福洲,陈哲涵,唐晓青.iGPS测量场精度分析及其应用研究[J].航空学报,2012,33(9):1737-1745.]
[6] JIANG Tao,FANG Hui,DONG Xiuli.Construction of visual inspection system for riveting quality of aircraft skin[J].Aeronautical Manufacturing Technology,2017(6):88-91(in Chinese).[蒋滔,方辉,董秀丽.飞机蒙皮铆接质量视觉检测系统的构建[J].航空制造技术,2017(6):88-91.]
[7] XU Dashuai,DU Fuzhou.Research on measurement technique of the stepped difference and gap between aircraft skins based on linear structural light[J].Aeronautical Manufacturing Technology,2017(5):77-81(in Chinese).[许大帅,杜福洲.基于线结构光的飞机蒙皮对缝阶差与间隙测量技术研究[J].航空制造技术,2017(5):77-81.]
[8] MUELANER J E,CAI B,MAROPOULOS P G.Large-volume metrology instrument selection and measurability analysis[J].Journal of Engineering Manufacture,2010,224(6):853-868.
[9] JING Xishuang,ZHANG Pengfei,WANG Zhijia,et al.Digital combined measuring technology assisted quality inspection for aircraft assembly[J].Journal of Beijing University of Aeronautics and Astronautics,2015,41(7):1196-1201(in Chinese).[景喜双,张鹏飞,王志佳,等.数字化组合测量辅助飞机装配质量检测技术[J].北京航空航天大学学报,2015,41(7):1196-1201.]
[10] QU Xuejun,MENG Biao,LIU Chun.Onsite global calibration and optimization of combining measurement for large free-form surface part[J].Computer Integrated Manufacturing Systems,2015,21(9):2384-2392(in Chinese).[曲学军,孟飙,刘春.大尺寸自由曲面部件组合测量现场全局标定优化方法与应用[J].计算机集成制造系统,2015,21(9):2384-2392.]
[11] CHEN Zhehan,DU Fuzhou.Measuring principle and uncertainty analysis of a large volume measurement network based on the combination of iGPS and portable scanner[J].Measurement,2017,104:263-277.
[12] CALKINS,JOSEPH M.Quantifying coordinate uncertainty fields in coupled spatial measurement systems[D].Blacksburg,Va.,USA:Virginia Polytechnic Institute And State University,2002.
[13] HAN Feng,TIAN Wei,LIU Mingshuang,et al.Adaptive control method based on intelligent three-dimensional mobile platform[J].Journal of Nanjing University of Aeronautics & Astronautics,2016,48(1):98-105(in Chinese).[韩峰,田威,刘明爽,等.智能移动三坐标辅助定位的自适应控制方法[J].南京航空航天大学学报,2016,48(1):98-105.]
[14] XING Zhiwei,CHEN Muhua,GAO Qingji.The structure and defects recognition algorithm of an aircraft surface defects inspection robot[C]//Proceedings of International Conference on Information & Automation.Washington,D.C.,USA:IEEE,2009,154(2):740-745.
[15] MENG Zihang,LI Changle,LI Ge,et al.Research of positioning method for automatic spraying on large ship block surfaces[C]//Proceedings of 2016 IEEE International Conference on Real-time computing and robotics.Washington,D.C.,USA:IEEE,2016.DOI:10.1109/RCAR.2016.7784068.
[16] REN Shunan,YANG Xiangdong,WANG Guolei,et al.Base position planning of mobile manipulator for large parts painting[J].Journal of Jilin University:Engineering and Technology Edition,2016,46(6):1995-2002(in Chinese).[任书楠,杨向东,王国磊,等.大部件喷涂中的移动机械臂站位规划[J].吉林大学学报:工学版,2016,46(6):1995-2002.]
[17] YU Qiankun,WANG Guolei,REN Tianyu,et al.An efficient base position optimization method for mobile painting robot[J].Robot,2017,39(2):249-256(in Chinese).[于乾坤,王国磊,任田雨,等.一种移动喷涂机器人的高效站位优化方法[J].机器人,2017,39(2):249-256.]
[18] PARK H S,JUN C H.A simple and fast algorithm for K-medoids clustering[J].Expert Systems with Applications,2009,36(2):3336-3341.
[19] ZHANG Xiaolong,YIN Shibin,REN Yongjie,et al.High-precision flexible visual measurement system based on global space control[J].Infrared and Laser Engineering,2015,44(9):2805-2812(in Chinese).[张晓龙,尹仕斌,任永杰,等.基于全局空间控制的高精度柔性视觉测量系统研究[J].红外与激光工程,2015,44(9):2805-2812.]
[20] HORAUD R,DORNAIKA F.Hand-eye calibration[J].International Journal of Robotics Research,2011,14(3):195-210.
[2] CHEN Zhehan,DU Fuzhou,TANG Xiaoqing.Key measurement characteristics based inspection data modeling for aircraft assembly[J].Acta Aeronautica et Astronautica Sinica,2012,33(11):2143-2152(in Chinese).[陈哲涵,杜福洲,唐晓青.基于关键测量特性的飞机装配检测数据建模研究[J].航空学报,2012,33(11):2143-2152.]
[3] YU Fengjie,YU Cijun,WANG Qing,et al.Accuracy analysis with limited samples during aircraft automatic join-assembly[J].Computer Integrated Manufacturing Systems,2009,15(4):741-750(in Chinese).[余峰杰,俞慈君,王青,等.飞机自动化对接中装配准确度的小样本分析[J].计算机集成制造系统,2009,15(4):741-750.]
[4] WANG Qing,LIANG Qin,LI Jiangxiong,et al.Estimation and alignment method of wing position and orientation for aircraft digital assembly[J].Journal of Zhejiang University :Engineering Science,2014,48(7):1287-1294(in Chinese).[王青,梁琴,李江雄,等.飞机数字化装配机翼姿态评价及调整方法[J].浙江大学学报:工学版,2014,48(7):1287-1294.]
[5] DU Fuzhou,CHEN Zhehan,TANG Xiaoqing.Precision analysis of iGPS measurement field and its application[J].Acta Aeronautica et Astronautica Sinica,2012,33(9):1737-1745(in Chinese).[杜福洲,陈哲涵,唐晓青.iGPS测量场精度分析及其应用研究[J].航空学报,2012,33(9):1737-1745.]
[6] JIANG Tao,FANG Hui,DONG Xiuli.Construction of visual inspection system for riveting quality of aircraft skin[J].Aeronautical Manufacturing Technology,2017(6):88-91(in Chinese).[蒋滔,方辉,董秀丽.飞机蒙皮铆接质量视觉检测系统的构建[J].航空制造技术,2017(6):88-91.]
[7] XU Dashuai,DU Fuzhou.Research on measurement technique of the stepped difference and gap between aircraft skins based on linear structural light[J].Aeronautical Manufacturing Technology,2017(5):77-81(in Chinese).[许大帅,杜福洲.基于线结构光的飞机蒙皮对缝阶差与间隙测量技术研究[J].航空制造技术,2017(5):77-81.]
[8] MUELANER J E,CAI B,MAROPOULOS P G.Large-volume metrology instrument selection and measurability analysis[J].Journal of Engineering Manufacture,2010,224(6):853-868.
[9] JING Xishuang,ZHANG Pengfei,WANG Zhijia,et al.Digital combined measuring technology assisted quality inspection for aircraft assembly[J].Journal of Beijing University of Aeronautics and Astronautics,2015,41(7):1196-1201(in Chinese).[景喜双,张鹏飞,王志佳,等.数字化组合测量辅助飞机装配质量检测技术[J].北京航空航天大学学报,2015,41(7):1196-1201.]
[10] QU Xuejun,MENG Biao,LIU Chun.Onsite global calibration and optimization of combining measurement for large free-form surface part[J].Computer Integrated Manufacturing Systems,2015,21(9):2384-2392(in Chinese).[曲学军,孟飙,刘春.大尺寸自由曲面部件组合测量现场全局标定优化方法与应用[J].计算机集成制造系统,2015,21(9):2384-2392.]
[11] CHEN Zhehan,DU Fuzhou.Measuring principle and uncertainty analysis of a large volume measurement network based on the combination of iGPS and portable scanner[J].Measurement,2017,104:263-277.
[12] CALKINS,JOSEPH M.Quantifying coordinate uncertainty fields in coupled spatial measurement systems[D].Blacksburg,Va.,USA:Virginia Polytechnic Institute And State University,2002.
[13] HAN Feng,TIAN Wei,LIU Mingshuang,et al.Adaptive control method based on intelligent three-dimensional mobile platform[J].Journal of Nanjing University of Aeronautics & Astronautics,2016,48(1):98-105(in Chinese).[韩峰,田威,刘明爽,等.智能移动三坐标辅助定位的自适应控制方法[J].南京航空航天大学学报,2016,48(1):98-105.]
[14] XING Zhiwei,CHEN Muhua,GAO Qingji.The structure and defects recognition algorithm of an aircraft surface defects inspection robot[C]//Proceedings of International Conference on Information & Automation.Washington,D.C.,USA:IEEE,2009,154(2):740-745.
[15] MENG Zihang,LI Changle,LI Ge,et al.Research of positioning method for automatic spraying on large ship block surfaces[C]//Proceedings of 2016 IEEE International Conference on Real-time computing and robotics.Washington,D.C.,USA:IEEE,2016.DOI:10.1109/RCAR.2016.7784068.
[16] REN Shunan,YANG Xiangdong,WANG Guolei,et al.Base position planning of mobile manipulator for large parts painting[J].Journal of Jilin University:Engineering and Technology Edition,2016,46(6):1995-2002(in Chinese).[任书楠,杨向东,王国磊,等.大部件喷涂中的移动机械臂站位规划[J].吉林大学学报:工学版,2016,46(6):1995-2002.]
[17] YU Qiankun,WANG Guolei,REN Tianyu,et al.An efficient base position optimization method for mobile painting robot[J].Robot,2017,39(2):249-256(in Chinese).[于乾坤,王国磊,任田雨,等.一种移动喷涂机器人的高效站位优化方法[J].机器人,2017,39(2):249-256.]
[18] PARK H S,JUN C H.A simple and fast algorithm for K-medoids clustering[J].Expert Systems with Applications,2009,36(2):3336-3341.
[19] ZHANG Xiaolong,YIN Shibin,REN Yongjie,et al.High-precision flexible visual measurement system based on global space control[J].Infrared and Laser Engineering,2015,44(9):2805-2812(in Chinese).[张晓龙,尹仕斌,任永杰,等.基于全局空间控制的高精度柔性视觉测量系统研究[J].红外与激光工程,2015,44(9):2805-2812.]
[20] HORAUD R,DORNAIKA F.Hand-eye calibration[J].International Journal of Robotics Research,2011,14(3):195-210.
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |