阅读说明：本技术 基于动态干涉分析的发动机安装测量与安装方法及装置 (Engine installation measurement and installation method and device based on dynamic interference analysis ) 是由 邓正平 郝飞 于 2020-04-28 设计创作，主要内容包括：本发明尤其涉及基于动态干涉分析的发动机安装测量与安装方法及装置,在调姿运输平台的前相机可翻转立柱的旋转末端和左右后相机立柱上安装扫描相机,推进过程中,采用所提出的动态干涉检测方法分析得到潜在干涉,计算并获取发动机插配方向调整所需的定位器驱动量,驱动定位器对发动机调姿,实现自动、快速、安全的安装。本发明特点在于：1)集测量、调姿与推进于一体,自动化程度高,安装过程顺畅；2)解决狭小空间安全性保障问题,实现单人操作安全安装,节省人力资源；3)相对预先全尺寸扫描测量,安装效率大大提高；4)相对激光雷达等大尺寸测量设备引导的发动机安装,安装成本大大降低,且受温度、气流、气压影响小。(The invention especially relates to a method and a device for mounting, measuring and mounting an engine based on dynamic interference analysis. The invention is characterized in that: 1) the device integrates measurement, posture adjustment and propulsion, has high automation degree and is smooth in installation process; 2) the safety guarantee problem in a narrow space is solved, the safe installation by one person is realized, and the manpower resource is saved; 3) compared with the prior full-size scanning measurement, the installation efficiency is greatly improved; 4) compared with the installation of engines guided by large-size measuring equipment such as laser radars and the like, the installation cost is greatly reduced, and the influence of temperature, airflow and air pressure is small.)

1. The engine installation measurement and installation method and device based on dynamic interference analysis are characterized in that:

the engine installation measuring device comprises an engine automatic installation posture adjusting structure and a camera; the automatic installation and posture adjustment structure of the engine comprises a posture adjustment positioner, a propelling guide rail, a supporting sliding table, a posture adjustment moving platform and a transportation posture adjustment platform; the upper surface of the transportation posture adjusting platform is fixedly provided with a posture adjusting positioner; the upper end of the posture adjusting positioner is provided with a posture adjusting platform; the surface of the attitude adjusting platform is provided with a horizontal guide rail, and a supporting sliding table arranged on the upper surface of the attitude adjusting platform can slide along the guide rail; the cameras comprise a front scanning camera and a rear scanning camera; the front scanning camera is connected with the rotary support arm and used for collecting the point cloud of the internal shape of the engine compartment of the engine body; the other end of the rotary support arm is connected with the top end of the reversible upright post; the bottom of the turnable upright post is arranged on the surface of the transportation posture adjusting platform through a 90-degree rotary joint; the rear scanning cameras comprise two rear scanning cameras which are respectively positioned at the left end and the right end of the transportation attitude adjusting platform and are used for collecting point clouds on the outer surface of the engine;

the mounting method of the engine mounting measuring device comprises the following steps:

the method comprises the following steps: carrying out point cloud scanning on the inner wall of the engine compartment;

after the engine is provided with the measuring device, the front scanning camera can turn over the upright post and rotate to a state vertical to the surface of the transportation attitude adjusting platform, and the front scanning camera collects point clouds on the inner wall of the engine cabin of the body; the specific process is as follows: the front camera is driven to move by adjusting the rotation of the rotary support arm until the front scanning camera scans the inner wall of the engine compartment by 360 degrees; according to the conversion relation between the coordinate system of the transportation attitude adjusting platform and the coordinate system of the tail end of the turnable upright post of the front camera^PT_fVConversion relation between coordinate system of tail end of turnable upright post of front scanning camera and measurement coordinate system of front scanning camera at zero angle^fVT_{fC_0}Measuring data of the camera coordinate system at zero angleConversion to platform coordinate systemConversion relation between coordinate system of tail end of turnable upright post of front scanning camera at other angles omega except zero angle and measurement coordinate system of front scanning camera^fVT_{fC_ω}Where the measured dataConversion to platform coordinate systemFinal engine compartment scan data of

Step two: the front camera can turn over the upright post and rotate to a horizontal state;

step three: progressive scanning of the engine; specifically, steps S31 to S33 are included;

s31: the supporting sliding table pushes the engine until a post-scanning camera can initially collect the point cloud of the outline of the engine, and the position of the supporting sliding table at the moment is recorded and set as a zero position;

s32: a post-scanning camera collects frame line point clouds at the current position of the engine and converts the point cloud data;

according to the conversion relation between the coordinate system of the transportation attitude adjusting platform and the measurement coordinate system of the rear scanning camera^PT_{bC_1}、^PT_{bC_2}The left and right frame lines of the current position of the engine are point clouds^bC_1p^engine、^bC_2p^engineAnd (3) converting into a platform coordinate system:

^Pp^engine＝[^PT_{bC_1} ^bC_1p^enginePT_{bC_2} ^bC_2p^engine]；

s33: calculating the distance d between the current position of the support sliding table and a zero position, and taking the end surface of the inner side of an engine cabin of the body as a start, and intercepting a plane perpendicular to the insertion direction at a position pointing to the direction of the engine and having an offset distance of d, namely the target installation position of the current frame line of the engine;

step four: dynamic interference detection:

projecting the newly added point cloud EA of the engine to a target plane along the insertion direction, projecting all point clouds BB of a cabin of the engine body, which point to the engine direction and are behind the target plane, to the target plane, and respectively recording the point cloudsAndcalculating the maximum distance between projection points based on a Hausdorff distance model:

whereinIs a one-way Hausdorff distance;

step five: determining engine action execution according to the interference analysis result:

s51: continuing to propel the engine, and if the calculated maximum distance between the two projection point clouds is greater than a preset safety threshold, judging that the engine can be continuously propelled in the current inserting and matching direction;

s52, calculating a non-interference pose and fine-tuning the pose, if the maximum distance between the two calculated projection point clouds is smaller than a preset safety threshold value, judging that the interference is easy to occur when the projection point clouds continue to advance, and calculating the non-interference fine-tuning pose ξ as (t)_x,t_y,t_z,ω_x,ω_y,ω_z) (ii) a The specific calculation process is as follows: firstly, all point cloud FA points measured by an engine are recorded asThe transformed point cloud at pose ξ is

T＝[t_xt_yt_z]^TFor translational variables, R is a rotation matrix expressed in terms of small rotations

Transforming the point cloud

if the objective function f (ξ) is larger than a preset gap safety threshold value, calculating the driving quantity of each positioner according to the calculated engine pose fine adjustment quantity ξ based on the parallel mechanism kinematics principle and by combining the conversion relation between the positioner coordinate system and the platform coordinate system, and setting the spherical hinge coordinate of the tail end of the positioner i asIts motion vectorIs calculated as

If the objective function f (xi) is not larger than the preset clearance safety threshold, the engine is indicated to be inserted continuously and is inevitably interfered, namely the repairing and the matching are quitted;

step six: after the pose of the engine is adjusted, the supporting sliding table pushes the engine to be inserted and matched forwards and collects point cloud data of the engine, and the fourth step, the fifth step and the fourth step are repeatedly executed until the safe installation of the engine is completed.

2. An engine mounting measurement and mounting device based on dynamic interferometry, using the engine mounting measurement and mounting method based on dynamic interferometry according to claim 1, characterized in that: comprises an automatic installation posture adjusting mechanism of an engine and a camera; the automatic installation and posture adjustment mechanism of the engine comprises a posture adjustment positioner, a propelling guide rail, a supporting sliding table, a posture adjustment moving platform and a transportation posture adjustment platform; the upper surface of the transportation adjusting platform is fixedly provided with an attitude adjusting positioner; the upper end of the posture adjusting positioner is provided with a posture adjusting platform; the surface of the attitude adjusting platform is provided with a guide rail, and a supporting sliding table arranged on the upper surface of the attitude adjusting platform can slide along the guide rail; the cameras comprise a front scanning camera and a rear scanning camera; the front scanning camera is connected with the rotary support arm; the other end of the rotary support arm is connected with the top end of the reversible upright post; the bottom of the reversible upright post is arranged on the surface of the posture adjusting movable platform through a 90-degree rotating joint; the rear scanning cameras comprise two rear scanning cameras which are respectively positioned at the left end and the right end of the transportation attitude adjusting platform; the front and rear scanning cameras acquire and process point cloud data of the internal shape and the external shape of an engine cabin of the body, potential interference quantity is obtained through analysis of a dynamic interference detection method, the movement quantity of the attitude adjusting positioner is obtained through analysis of the positioning method, and the pose adjustment and the safe propulsion of the engine are guided.

3. An engine mount measurement mounting arrangement based on dynamic interferometry according to claim 2, wherein: the device also comprises a motor for driving the rotary support arm to rotate.

Technical Field

The invention relates to the field of engine installation equipment, in particular to an engine installation measuring and installing method and device based on dynamic interference analysis.

Background

The engine, as the most important part of the airplane, needs to be periodically maintained, and the installation time and the safety of the engine directly influence the service performance of the airplane. At present, the device and the method for mounting the engine at home and abroad mainly comprise the following method (1), wherein the device and the method are applied to a 201610748915 patent, a 201910016417 patent, an engine automatic mounting vehicle and a 2010101515543 patent; the mounting vehicle and the corresponding mounting method have manual indication automatic attitude adjustment capability, but the engine compartment is deformed after flying due to the difference between the maintained engine and the theoretical appearance, the minimum fit clearance of the engine compartment and the theoretical appearance can be less than 10mm, the safety of the engine in a narrow space and in the insertion and assembly process of a depth of several meters can not be ensured on the premise of not determining the appearance deviation of the engine and the engine compartment, a plurality of panels are still required to be detached to provide a manual observation window in the actual mounting process as in the traditional mounting process, the total mounting time is extremely long, and the requirement of personnel is often more than ten. (2) The authors of the paper "design and application of automatic attitude adjustment installation of aircraft engines" are said to be new, and in this paper, a monitoring method is proposed in which several cameras are temporarily installed on an engine, but only the foremost end of the engine can be seen, the collision in the subsequent structural insertion is difficult to observe, and the number of cameras is large, and the installation preparation time is long. (3) The patent with the application number of 2010105453781 discloses an aircraft engine attitude adjusting installation system based on four numerical control positioners and a using method thereof, the method is too high in cost, long in construction and scanning time period of a measuring field, high in technical requirement on measuring operators, and greatly influenced by ambient temperature, humidity and the like in precision, so that the method is occasionally used in engine installation of an aircraft manufacturing department at present, but is not suitable for occasions with larger engine installation requirements such as armies, test flight stations and the like.

In summary, in the field of engine installation, no device or method capable of simultaneously meeting the installation high intelligence level, but ensuring safety with low cost and high efficiency exists at home and abroad at present. The invention provides a safe installation method and a device integrating measurement, posture adjustment and propulsion through long-term research in units such as China flight test research institute and the like, so as to solve the technical defects in the prior art.

Disclosure of Invention

1. The technical problem to be solved is as follows:

aiming at the technical problems, the invention provides an engine installation measuring and installing method and device based on dynamic interference analysis, and the method can effectively solve the problem that the installation safety in a narrow space in the existing engine installation process is difficult to guarantee.

2. The technical scheme is as follows:

an engine installation measurement and installation method and device based on dynamic interference analysis are characterized in that:

the engine installation measuring device comprises an engine automatic installation posture adjusting structure and a camera; the automatic installation and posture adjustment structure of the engine comprises a posture adjustment positioner, a propelling guide rail, a supporting sliding table, a posture adjustment moving platform and a transportation posture adjustment platform; the upper surface of the transportation posture adjusting platform is fixedly provided with a posture adjusting positioner; the upper end of the posture adjusting positioner is provided with a posture adjusting platform; the surface of the attitude adjusting platform is provided with a horizontal guide rail, and a supporting sliding table arranged on the upper surface of the attitude adjusting platform can slide along the guide rail; the cameras comprise a front scanning camera and a rear scanning camera; the front scanning camera is connected with the rotary support arm and used for collecting the point cloud of the internal shape of the engine compartment of the engine body; the other end of the rotary support arm is connected with the top end of the reversible upright post; the bottom of the turnable upright post is arranged on the surface of the transportation posture adjusting platform through a 90-degree rotary joint; the rear scanning cameras comprise two rear scanning cameras which are respectively positioned at the left end and the right end of the transportation attitude adjusting platform and are used for collecting point clouds on the outer surface of the engine.

The mounting method of the engine mounting measuring device comprises the following steps:

the method comprises the following steps: carrying out point cloud scanning on the inner wall of the engine compartment;

after the engine is provided with the measuring device, the front scanning camera can turn over the upright post and rotate to a state vertical to the surface of the transportation attitude adjusting platform, and the front scanning camera collects point clouds on the inner wall of the engine cabin of the body; the specific process is as follows: the front camera is driven to move by adjusting the rotation of the rotary support arm until the front scanning camera scans the inner wall of the engine compartment by 360 degrees; according to the conversion relation between the coordinate system of the transportation attitude adjusting platform and the coordinate system of the tail end of the turnable upright post of the front camera^PT_fVConversion relation between coordinate system of tail end of turnable upright post of front scanning camera and measurement coordinate system of front scanning camera at zero angle^fVT_{fC_0}Measuring data of the camera coordinate system at zero angle

Conversion to platform coordinate system

Conversion relation between coordinate system of tail end of turnable upright post of front scanning camera at other angles omega except zero angle and measurement coordinate system of front scanning camera^fVT_{fC_ω}Where the measured dataConversion to platform coordinate system

Final engine compartment scan data of

Step two: the front camera can turn over the upright post to rotate to a horizontal state.

Step three: progressive scanning of the engine; specifically, steps S31 to S33 are included;

s31: the supporting sliding table pushes the engine until the post-scanning camera can initially collect the point cloud of the appearance of the engine, and the position of the supporting sliding table is recorded and set as a zero position.

S32: a post-scanning camera collects frame line point clouds at the current position of the engine and converts the point cloud data;

according to the conversion relation between the coordinate system of the transportation attitude adjusting platform and the measurement coordinate system of the rear scanning camera^PT_{bC_1}、^PT_{bC_2}The left and right frame lines of the current position of the engine are point clouds^bC_1p^engine、^bC_2p^engineAnd (3) converting into a platform coordinate system:

^Pp^engine＝[^PT_{bC_1} ^bC_1p^{engine P}T_{bC_2} ^bC_2p^engine]。

s33: and calculating the distance d between the current position of the support sliding table and the zero position, and taking the inner side end face of the engine cabin of the body as a start, and intercepting a plane perpendicular to the inserting direction at a position pointing to the direction of the engine and having the offset distance d, namely the target installation position of the current frame line of the engine.

Step four: dynamic interference detection:

projecting the newly added point cloud EA of the engine to a target plane along the insertion direction, projecting all point clouds BB of a cabin of the engine body, which point to the engine direction and are behind the target plane, to the target plane, and respectively recording the point clouds

And

calculating the maximum distance between projection points based on a Hausdorff distance model:

wherein

Is a one-way hausdorff distance.

Step five: determining engine action execution according to the interference analysis result:

s51: and (4) continuing to propel the engine, and if the calculated maximum distance between the two projection point clouds is greater than a preset safety threshold, judging that the engine can be continuously propelled in the current inserting and matching direction.

S52, calculating a non-interference pose and fine-tuning the pose, if the maximum distance between the two calculated projection point clouds is smaller than a preset safety threshold value, judging that the interference is easy to occur when the projection point clouds continue to advance, and calculating the non-interference fine-tuning pose ξ as (t)_x,t_y,t_z,ω_x,ω_y,ω_z) (ii) a The specific calculation process is as follows: firstly, the first step is toAll point cloud FA points measured by the engine are recorded asThe transformed point cloud at pose ξ is

T＝[t_xt_yt_z]^TFor translational variables, R is a rotation matrix expressed in terms of small rotations

Transforming the point cloudIs divided into N segments along the insertion direction, projected onto the target plane, and respectively notedDividing all point clouds FB of a fuselage engine compartment pointing to the engine direction and in front of a target plane into N segments, projecting the segments onto the target plane, and respectively recording the segments as sumCalculating the maximum distance between the corresponding projection points of each segment based on the Hausdorff distance modelEstablishing and solving an unconstrained gap maximization equation of the interference-free pose:

if the objective function f (ξ) is larger than a preset gap safety threshold, calculating the driving quantity of each positioner according to the calculated engine pose fine adjustment quantity ξ and based on the parallel mechanism kinematics principle and by combining the conversion relation between the positioner coordinate system and the platform coordinate system;setting the coordinates of a spherical hinge at the i tail end of the positioner asIts motion vectorIs calculated as

If the objective function f (xi) is not larger than the preset clearance safety threshold value, the situation shows that the engine is inserted continuously and interference is inevitable, and namely the repairing and the matching are quitted.

Step six: after the pose of the engine is adjusted, the supporting sliding table pushes the engine to be inserted and matched forwards and collects point cloud data of the engine, and the fourth step, the fifth step and the fourth step are repeatedly executed until the safe installation of the engine is completed.

The utility model provides an engine installation measures installation device based on dynamic interference analysis which characterized in that: comprises an automatic installation posture adjusting mechanism of an engine and a camera; the automatic installation and posture adjustment mechanism of the engine comprises a posture adjustment positioner, a propelling guide rail, a supporting sliding table, a posture adjustment moving platform and a transportation posture adjustment platform; the upper surface of the transportation adjusting platform is fixedly provided with an attitude adjusting positioner; the upper end of the posture adjusting positioner is provided with a posture adjusting platform; the surface of the attitude adjusting platform is provided with a guide rail, and a supporting sliding table arranged on the upper surface of the attitude adjusting platform can slide along the guide rail; the cameras comprise a front scanning camera and a rear scanning camera; the front scanning camera is connected with the rotary support arm; the other end of the rotary support arm is connected with the top end of the reversible upright post; the bottom of the reversible upright post is arranged on the surface of the posture adjusting movable platform through a 90-degree rotating joint; the rear scanning cameras comprise two rear scanning cameras which are respectively positioned at the left end and the right end of the transportation attitude adjusting platform; the front and rear scanning cameras acquire and process point cloud data of the internal shape and the external shape of an engine cabin of the body, potential interference quantity is obtained through analysis of a dynamic interference detection method, the movement quantity of the attitude adjusting positioner is obtained through analysis of the positioning method, and the pose adjustment and the safe propulsion of the engine are guided.

Further, the device also comprises a motor for driving the rotary support arm to rotate.

3. Has the advantages that:

(1) according to the engine installation measuring device and the installation method, point clouds are collected through the front scanning camera and the rear scanning camera, point cloud data of the internal shape and the external shape of the engine cabin of the engine body are obtained through the front scanning camera and the rear scanning camera and processed, the potential interference quantity is obtained through analysis of a dynamic interference detection method, the movement quantity of a positioner is obtained through analysis of a positioning method, and therefore pose adjustment and safe propulsion of the engine are guided. The integrated measurement, posture adjustment and propulsion are realized, the automation degree is high, and the process of installing the engine is smooth.

(2) The motive installation measuring device provided by the invention can solve the problem of safety guarantee in a narrow space, realizes safe installation by single operator and saves human resources.

(3) The installation method of the invention can relatively scan and measure in full size in advance, thus greatly improving the installation efficiency.

(4) Compared with the installation of an engine guided by large-size measuring equipment such as a laser radar and the like, the installation cost is greatly reduced, and the influence of temperature, airflow and air pressure is small.

Drawings

FIG. 1 is a schematic structural diagram of a main body of an engine safety installation measuring device and an installation vehicle;

FIG. 2 is a schematic diagram of a coordinate system of an engine safety installation measuring device and an installation vehicle body;

FIG. 3 is a main flow chart of an installation based on dynamic progressive scan and real-time interferometric analysis of an engine;

FIG. 4 is a flow chart of a dynamic interferometry analysis algorithm.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

The engine installation measurement and installation method and device based on dynamic interference analysis are characterized in that:

the engine safe installation measuring device shown in the attached figure 1 is composed of a main body structure schematic diagram of an installation vehicle, and comprises an engine automatic installation posture adjusting structure and a camera; the automatic installation and posture adjustment structure of the engine comprises a posture adjustment positioner, a propelling guide rail, a supporting sliding table, a posture adjustment moving platform and a transportation posture adjustment platform; the upper surface of the transportation posture adjusting platform is fixedly provided with a posture adjusting positioner; the upper end of the posture adjusting positioner is provided with a posture adjusting platform; the surface of the attitude adjusting platform is provided with a horizontal guide rail, and a supporting sliding table arranged on the upper surface of the attitude adjusting platform can slide along the guide rail; the cameras comprise a front scanning camera and a rear scanning camera; the front scanning camera is connected with the rotary support arm and used for collecting the point cloud of the internal shape of the engine compartment of the engine body; the other end of the rotary support arm is connected with the top end of the reversible upright post; the bottom of the turnable upright post is arranged on the surface of the transportation posture adjusting platform through a 90-degree rotary joint; the rear scanning cameras comprise two rear scanning cameras which are respectively positioned at the left end and the right end of the transportation attitude adjusting platform and are used for collecting point clouds on the outer surface of the engine; in the figure, 1 is an engine, 2 is the inner wall of an engine cabin, 3 is a transportation posture adjusting platform, 4 is a posture adjusting positioner fixedly installed on 3, 5 is a posture adjusting moving platform, 6 is a supporting sliding table, 7 is a horizontal guide rail, 8 is a front scanning camera, 9 is a rotating support arm, 10 is a reversible upright post, 11 is a motor for driving the rotating support arm, 12 and 13 are rear scanning cameras distributed on two sides of the engine, and 14 and 15 are rear scanning camera upright posts.

As shown in fig. 2, the coordinate system involved in the present invention is specifically: 16 is a measurement coordinate system of a front scanning camera at a zero angle of the rotary support arm, 17 is a measurement coordinate system of a front scanning camera at a w angle of the rotary support arm, 19 is a coordinate system of the tail end of the reversible upright post, 19 and 20 are measurement coordinate systems of a rear scanning camera, 21 is a coordinate system of an engine, 22 to 25 are coordinate systems of four positioners, and 26 is a coordinate system of a transportation attitude adjusting platform.

The mounting method of the engine mounting measuring device comprises the following steps:

the method comprises the following steps: carrying out point cloud scanning on the inner wall of the engine compartment;

after the engine is provided with the measuring device, the front scanning camera can turn over the upright post and rotate to a state vertical to the surface of the transportation attitude adjusting platform, and the front scanning camera collects point clouds on the inner wall of the engine cabin of the body; detailed description of the preferred embodimentComprises the following steps: the front camera is driven to move by adjusting the rotation of the rotary support arm until the front scanning camera scans the inner wall of the engine compartment by 360 degrees; according to the conversion relation between the coordinate system of the transportation attitude adjusting platform and the coordinate system of the tail end of the turnable upright post of the front camera^PT_fVConversion relation between coordinate system of tail end of turnable upright post of front scanning camera and measurement coordinate system of front scanning camera at zero angle^fVT_{fC_0}Measuring data of the camera coordinate system at zero angleConversion to platform coordinate systemConversion relation between coordinate system of tail end of turnable upright post of front scanning camera at other angles omega except zero angle and measurement coordinate system of front scanning camera^fVT_{fC_ω}Where the measured data

Conversion to platform coordinate systemFinal engine compartment scan data of

Step two: the front camera can turn over the upright post to rotate to a horizontal state.

Step three: progressive scanning of the engine; specifically, steps S31 to S33 are included;

s31: the supporting sliding table pushes the engine until a post-scanning camera can initially collect the point cloud of the outline of the engine, and the position of the supporting sliding table at the moment is recorded and set as a zero position;

s32: and the post-scanning camera acquires the frame line point cloud of the current position of the engine and converts the point cloud data.

According to the conversion relation between the coordinate system of the transportation attitude adjusting platform and the measurement coordinate system of the rear scanning camera^PT_{bC_1}、^PT_{bC_2}An engineLeft and right frame line point clouds of current position^bC_1p^engine、^bC_2p^engineAnd (3) converting into a platform coordinate system:

^Pp^engine＝[^PT_{bC_1} ^bC_1p^{engine P}T_{bC_2} ^bC_2p^engine]。

s33: and calculating the distance d between the current position of the support sliding table and the zero position, and taking the inner side end face of the engine cabin of the body as a start, and intercepting a plane perpendicular to the inserting direction at a position pointing to the direction of the engine and having the offset distance d, namely the target installation position of the current frame line of the engine.

Step four: dynamic interference detection:

projecting the newly added point cloud EA of the engine to a target plane along the insertion direction, projecting all point clouds BB of a cabin of the engine body, which point to the engine direction and are behind the target plane, to the target plane, and respectively recording the point cloudsAnd

calculating the maximum distance between projection points based on a Hausdorff distance model:

whereinIs a one-way hausdorff distance.

Step five: determining engine action execution according to the interference analysis result:

s51: and (4) continuing to propel the engine, and if the calculated maximum distance between the two projection point clouds is greater than a preset safety threshold, judging that the engine can be continuously propelled in the current inserting and matching direction.

S52: calculating and fine-tuning the pose without interference; if the calculated maximum distance between the two projection point clouds is smaller than the preset distanceIf the threshold value is greater than the threshold value, it is determined that interference is likely to occur when the vehicle is further propelled, and at this time, the non-interference fine-tuning pose ξ should be calculated as (t)_x,t_y,t_z,ω_x,ω_y,ω_z) (ii) a The specific calculation process is as follows: firstly, all point cloud FA points measured by an engine are recorded asThe transformed point cloud at pose ξ is

T＝[t_xt_yt_z]^TFor translational variables, R is a rotation matrix expressed in terms of small rotations

Transforming the point cloudIs divided into N segments along the insertion direction, projected onto the target plane, and respectively noted

Dividing all point clouds FB of a fuselage engine compartment pointing to the engine direction and in front of a target plane into N segments, projecting the segments onto the target plane, and respectively recording the segments as sumCalculating the maximum distance between the corresponding projection points of each segment based on the Hausdorff distance modelEstablishing and solving an unconstrained gap maximization equation of the interference-free pose:

if the target letterIf the number f (ξ) is greater than the preset clearance safety threshold, calculating the driving quantity of each positioner according to the calculated engine pose fine adjustment quantity ξ based on the parallel mechanism kinematics principle and by combining the conversion relation between the positioner coordinate system and the platform coordinate system, and setting the spherical hinge coordinate at the tail end of the positioner i asIts motion vectorIs calculated as

If the objective function f (xi) is not larger than the preset clearance safety threshold value, the situation shows that the engine is inserted continuously and interference is inevitable, and namely the repairing and the matching are quitted.

Step six: after the pose of the engine is adjusted, the supporting sliding table pushes the engine to be inserted and matched forwards and collects point cloud data of the engine, and the fourth step, the fifth step and the fourth step are repeatedly executed until the safe installation of the engine is completed.

After the installation method is programmed to data acquisition and control software installation, the potential interference of engine installation can be dynamically detected, the driving quantity of the positioner is automatically calculated to realize pose adjustment, and the safe installation of the engine is promoted.

The utility model provides an engine installation measures installation device based on dynamic interference analysis which characterized in that: comprises an automatic installation posture adjusting mechanism of an engine and a camera; the automatic installation and posture adjustment mechanism of the engine comprises a posture adjustment positioner, a propelling guide rail, a supporting sliding table, a posture adjustment moving platform and a transportation posture adjustment platform; the upper surface of the transportation adjusting platform is fixedly provided with an attitude adjusting positioner; the upper end of the posture adjusting positioner is provided with a posture adjusting platform; the surface of the attitude adjusting platform is provided with a guide rail, and a supporting sliding table arranged on the upper surface of the attitude adjusting platform can slide along the guide rail; the cameras comprise a front scanning camera and a rear scanning camera; the front scanning camera is connected with the rotary support arm; the other end of the rotary support arm is connected with the top end of the reversible upright post; the bottom of the reversible upright post is arranged on the surface of the posture adjusting movable platform through a 90-degree rotating joint; the rear scanning cameras comprise two rear scanning cameras which are respectively positioned at the left end and the right end of the transportation attitude adjusting platform; the front and rear scanning cameras acquire and process point cloud data of the internal shape and the external shape of an engine cabin of the body, potential interference quantity is obtained through analysis of a dynamic interference detection method, the movement quantity of the attitude adjusting positioner is obtained through analysis of the positioning method, and the pose adjustment and the safe propulsion of the engine are guided.

Further, the device also comprises a motor for driving the rotary support arm to rotate.

Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.