Abstract: A method for automatically processing a structure-reinforcing member of an aircraft, including: (S1) acquiring, by a handheld laser scanner, data of an area to be reinforced of the aircraft; (S2) controlling a robotic arm to automatically grab the reinforcing member for automatic scanning; (S3) setting a cutting path in a computer aided design (CAD) digital model followed by registration with real data to obtain an actual cutting path, and cutting the reinforcing member; (S4) controlling the robotic arm to guide a cut reinforcing member to a scanning area for automatic scanning; and (S5) subjecting point cloud data of the cut reinforcing member and the area to be reinforced to virtual assembly and calculating a machining allowance to determine whether an accuracy requirement is met; if yes, ending a task; otherwise, grinding the reinforcing member automatically, and repeating steps (S4)-(S5).

Abstract: A method for automatically processing a structure-reinforcing member of an aircraft, including: (S1) acquiring, by a handheld laser scanner, data of an area to be reinforced of the aircraft; (S2) controlling a robotic arm to automatically grab the reinforcing member for automatic scanning; (S3) setting a cutting path in a computer aided design (CAD) digital model followed by registration with real data to obtain an actual cutting path, and cutting the reinforcing member; (S4) controlling the robotic arm to guide a cut reinforcing member to a scanning area for automatic scanning; and (S5) subjecting point cloud data of the cut reinforcing member and the area to be reinforced to virtual assembly and calculating a machining allowance to determine whether an accuracy requirement is met; if yes, ending a task; otherwise, grinding the reinforcing member automatically, and repeating steps (S4)-(S5).

Abstract: The present invention relates to an airplane structure stiffener repair method based on measured data guidance. The method includes: respectively measuring point cloud data on a surface of a structure stiffener and point cloud data on a surface of a to-be-assembled position of a body; respectively extracting all assembly plane features in two point cloud data based on an RANSAC algorithm; performing pre-alignment according to the plane features; performing accurate alignment based on a signed distance constraint according to repair tolerance requirements; and calculating a repair allowance, and generating a machining path to serve as an accurate machining basis. According to the method in the present invention, a repair amount can be accurately calculated by virtue of an alignment algorithm of the signed distance constraint, and an envelope relationship during model matching is met.

Abstract: Disclosed herein is a code point-driven three-dimensional (3D) point cloud deformation method. In the method, movable code points and fixed code points are respectively pasted on a moving structure and a static structure. Reference poses of the movable code points and fixed code points are obtained by a dual-camera measurement system, and a 3D point cloud reference model containing the moving structure and the static structure is obtained by 3D laser scanning. A transformation matrix of each code point is calculated, and a real-time point cloud model is established based on the transformation matrix to complete the real-time and dynamic measurement of the moving structure.

Abstract: The present invention relates to an airplane structure stiffener repair method based on measured data guidance. The method includes: respectively measuring point cloud data on a surface of a structure stiffener and point cloud data on a surface of a to-be-assembled position of a body; respectively extracting all assembly plane features in two point cloud data based on an RANSAC algorithm; performing pre-alignment according to the plane features; performing accurate alignment based on a signed distance constraint according to repair tolerance requirements; and calculating a repair allowance, and generating a machining path to serve as an accurate machining basis. According to the method in the present invention, a repair amount can be accurately calculated by virtue of an alignment algorithm of the signed distance constraint, and an envelope relationship during model matching is met.

Abstract: A method for controlling a gap distribution of a wing-fuselage joining based on measured data, in which original point cloud data of a wing and a central wing box are respectively collected, and then preprocessed. The preprocessed point cloud data of the wing and the center wing box are registered with the corresponding theoretical models. The key features during joining on the two theoretical models are selected. The the key features are mapped to the registered point cloud data, and the corresponding point cloud features are extracted. The point cloud data of the wing and the point cloud data of the central wing box are docked based on the positioning points. The joining surface is divided into multiple areas, and the gap between the feature points of each area after joining is calculated. According to the gap tolerance, the weight of each area is adjusted to control the gap distribution.

Abstract: Disclosed herein is a code point-driven three-dimensional (3D) point cloud deformation method. In the method, movable code points and fixed code points are respectively pasted on a moving structure and a static structure. Reference poses of the movable code points and fixed code points are obtained by a dual-camera measurement system, and a 3D point cloud reference model containing the moving structure and the static structure is obtained by 3D laser scanning. A transformation matrix of each code point is calculated, and a real-time point cloud model is established based on the transformation matrix to complete the real-time and dynamic measurement of the moving structure.