【作者】 胡宝海；

【导师】 刘刚； 俞慈君；

【作者基本信息】 浙江大学 ， 机械制造及其自动化， 2012， 硕士

【摘要】 为了监控和定位大量的数字化装备和辅助工装、测量和评估飞机装配准确度、实现各个装配单元的有机集成,激光跟踪仪作为一种高精度的大尺寸测量仪器被应用于飞机装配系统中可提高测量的精度和效率,并实现对装配部件的轨迹监测。本文以飞机数字化装配为平台,着重研究了多激光跟踪仪(LEICA)协同测量的关键技术,如转站(Bundle)技术、数据融合技术和同步触发技术等；并基于其底层控制软件EMSCON,通过VC++开发了多激光跟踪仪协同测量软件。本文第一章阐述了论文研究的背景。介绍了现代大尺寸空间测量技术的现状。最后给出了论文的研究内容和框架结构。第二章阐述了LEICA激光跟踪仪的系统结构、工作原理和它的底层控制软件EMSCON,并介绍了EMSCON的异步通信方式。分析了激光跟踪测量系统的误差。第三章详细分析了激光跟踪仪转站的本质,归纳了几种常见的位姿关系表达及其相互转换。介绍了EMSCON中的转站接口；提出了基于EMSCON的两台跟踪仪协同转站技术；基于马氏距离的多台激光跟踪仪协同转站技术；基于电子水平仪的带参数约束转站技术；基于粗大误差判别的超差公共点剔除技术；这些技术能充分利用多台激光跟踪仪建立协同观测网,减小固定参考对象变形使公共观测点位置偏移的影响,提高转站精度最终达到提高测量精度的目的。第四章介绍了激光跟踪仪的触发接口,并结合单片机系统提出了一种可行的多激光跟踪仪同步触发方案,以此来保证多台跟踪仪测量的同时性。第五章基于飞机数字化装配对于多跟踪仪协同测量系统的功能需求,介绍了基于EMSCON的多跟踪仪协同测量软件的开发。对软件中的各模块进行了设计,最后介绍了软件的界面。第六章对全文的研究工作进行了总结,并对有待进一步研究的内容进行了展望。更多还原

【Abstract】 As a measure equipment of wide-range and high accuracy, Laser tracker was applied widely in digital aircraft assembly system to monitor and orientate the digital devices, evaluate the accuracy of assembly, and implement system integration. Applying multi-laser tracker in a digital assembly system may improve the measurement accuracy and efficiency, and implement the trajectory monitoring of the assembly components.This paper was aimed at the multi-laser tracker measurement technologies, such as orientation technology, data fusion technology and synchronous trigger technology. A software system was developed to control multi-laser tracker for collaborative measurements by applying VC++ and tracker programming interface (EMSCON).In chapter 1, the article’s background and developing trends of large scale measurement in the field of aerospace in overseas were expounded detailing.In chapter 2, the working principle of laser tracker, EMSCON including its asynchronous communication were expatiated. The Error source of the laser tracker was analyzed.In chapter 3, the orientation theory of the tracker was introduced firstly. Then the orientation of two trackers based on EMSCON, the orientation of multi-laser trackers based Mahalanobis distance, the parameter constraints orientation based on electronic level and eliminating the inaccurate points based on gross error identification were brought up. These technologies can use multi-laser trackers to build collaborative observation network and reduce the influence of inaccurate point to increase measurement accuracy.In chapter 4, the trigger interface of Leica was introduced firstly. Then a synchronous trigger solution based on MCU system was developed to ensure simultaneous measurement of multi-laser trackers.In chapter 5, according to the demands of multi-laser tracker collaborative measurement in digital aircraft assembly system, the development of collaborative measuring system on multi-laser trackers, the interface and structure of the software, the design and the function of modules were introduced.Finally, in chapter 6, summary for the whole work in this dissertation is given, and the future work is discussed.更多还原