Dynamic Comprehensive Correction Of Assembly Deviation In Automatic Docking Of Aircraft Wing-body

Aiming at the shortcomings of the current laser tracker-assisted wing-body docking which is open-loop control,the accuracy of the joint position and the coordination accuracy of wing to fuselage can't be taken into account.A method for dynamic comprehensive correction of assembly deviation in automatic docking of aircraft wing-body based on laser tracker and machine vision is proposed.The method of dynamic correction for wing position and attitude deviation based on laser tracker measurement network is submitted.The dynamic detection method of wing-body joint position deviation based on machine vision and the data fusion filtering is studied.The integrated dynamic correction system software of wing-body docking quality deviation is developed,and the accuracy of the method is tested.The specific contents of this paper are as follows:1)The evaluation criteria of aircraft wing-fuselage docking assembly quality are analyzed.Combining the accuracy of intersection position and the relative coordination accuracy of wing-fuselage,a dynamic comprehensive correction method of wing-fuselage automatic docking assembly deviation based on laser tracker and machine vision is proposed,and its system composition and implementation steps are described.2)The dynamic correction method of wing position and attitude deviation based on laser tracker measurement network is studied.According to the principle of laser tracker automatic tracking measurement and coordinate conversion algorithm,a high precision laser tracker measurement network is constructed.Considering the shortcomings of particle filter and the advantages of artificial fish swarm algorithm,an artificial fish swarm particle filter algorithm based on wing attitude adjustment motion model and laser tracker measurement model is presented,and a dynamic correction function model of wing pose deviation is established.3)The dynamic detection method of intersection position deviation based on machine vision is studied.A visual measurement platform for the position deviation of the fork ear intersection is designed and built;the camera imaging principle and calibration method are studied;the concentricity and fit clearance measurement model of the fork ear intersection hole is given;the image preprocessing and feature detection method for the fork ear intersection are studied;and the dynamic solution function model of the position deviation of the fork ear intersection point is established based on the attitude adjustment equation of the wing-body engagement stage.4)The data fusion algorithm of heterogeneous measurement equipment is studied.The data fusion model of heterogeneous measurement equipment based on weighted least squares method is deduced.The laser tracker measurement network and machine vision measurement data are fused and filtered,and combined with the dynamic correction algorithm of wing position and attitude deviation,the integrated dynamic correction of assembly quality of aircraft wing-body docking can be realized.5)The software development and experimental study of the dynamic correction of the wing-body deviation are carried out.Taking the test platform of auto-docking assembly with single fork ear as the object of measurement and analysis,software for dynamic comprehensive correction for assembly deviation in automatic docking of aircraft wing-body was developed.The function of the software was verified and the test data was analyzed.