Abstract: A method for 3D positioning in a subway construction site. The method includes: establishing a 3D coordinate system corresponding to a shaft area, and determining a coordinate of each UWB base station set in different layers of the shaft area; ranging a positioning label through each UWB base station; filtering and discarding error data from the ranging data; dividing the 3D coordinate system into a plurality of equal cube grids, selecting a preset number of UWB base stations from the set UWB base stations based on the filtered result, and determining a position record of the positioning label in each cube grid in turn based on coordinates of the selected UWB base stations and corresponding ranging data, and the center point coordinate of each cube grid; and determining a conclusion coordinate of the positioning label by voting based on the position record of each cube grid.

Abstract: A method and system for automatic assembly of a curved surface part are provided. First, a space coordinate system is established, and a first unit normal vector of the space coordinate system is determined. Then, coordinates of three measurement points on the surface of a curved surface part in the space coordinate system are acquired; and a second unit normal vector to the surface of the curved surface part are determined according to the coordinates of the measurement points. Finally, a rotation angle of the end effector is calculated according to the first unit normal vector and the second unit normal vector; and the end effector is adjusted according to the rotation angle, such that a third unit normal vector of the end effector after adjustment coincides with the second unit normal vector. The method and system enhance the automatic assembly quality of the curved surface part.

Abstract: An apparatus and method are provided for integration of drilling and interference-fit pin insertion. The apparatus includes a station switching module, a spindle module, and a pin insertion module. The station switching module is configured to drill and countersink a panel connecting hole. The pin insertion module is configured for interference-fit pin insertion of a hi-lock bolt. Hence, by using the apparatus, after the drilling of a hole to be drilled is completed, the station switching module is rotated by a fixed angle so that station states of the spindle module and the pin insertion module can be switched, the interference-fit pin insertion of the hi-lock bolts can be completed, and the anti-fatigue property and assembly efficiency can be improved.

Abstract: A method and system for automatic assembly of a curved surface part are provided. First, a space coordinate system is established, and a first unit normal vector of the space coordinate system is determined. Then, coordinates of three measurement points on the surface of a curved surface part in the space coordinate system are acquired; and a second unit normal vector to the surface of the curved surface part are determined according to the coordinates of the measurement points. Finally, a rotation angle of the end effector is calculated according to the first unit normal vector and the second unit normal vector; and the end effector is adjusted according to the rotation angle, such that a third unit normal vector of the end effector after adjustment coincides with the second unit normal vector. The method and system enhance the automatic assembly quality of the curved surface part.