基于轨迹规划的飞机发动机数字化安装技术研究

摘要

The design proposal of aircraft engine digital installation system based on vision is proposed. The oflfine trajectory of engine installation in Cartesian space is planned by transformation of coordinates. The measure arithmetic of engine pose based on image low-rank matrix recovery is elaborated. The engine online trajectory planning based on vision is proposed. Engine installation experiments are accomplished, and practice results show that the new proposed digital in-stallation technology has advantages of stability, efifciency and accuracy.%提出了基于视觉的发动机数字化安装系统的设计方案,运用齐次坐标变换进行了发动机在笛卡尔空间的离线轨迹规划,阐述了基于图像低秩矩阵复原的发动机位姿测量算法,提出了基于视觉的发动机在线轨迹规划方法.进行了发动机安装试验,试验结果表明,这种新型的数字化安装技术具有很好的稳定性、高效性和精确性.