Relative pose measurement and assembly system for robot and tool in aircraft assembly

The utility model discloses a system for measuring and assembling the relative pose of a robot and a tool in aircraft assembly. The system comprises a displacement and rotation angle measuring device;the displacement measuring device comprises a plurality of pieces of first visual acquisition equipment which have an identification function and are used for acquiring marker images; the multiple markers are fixed to the periphery of the assembling tool, and the first visual collecting device obtains images of the markers matched with the first visual collecting device in a visual field intersecting mode. The rotation angle measuring device comprises a diffuse reflection plate and a plurality of laser emitting devices which are fixed on the side of the assembly tool, a mirror reflection device arranged opposite to the diffuse reflection plate and the laser emitting devices, and second visual acquisition equipment which is fixed on the observation side and has an identification function;and the second visual acquisition equipment acquires laser emitted by the laser emitting device, and the laser is reflected to the diffuse reflection plate through the mirror reflection device to forma light spot image. The method has the characteristic that the farther the measurement distance is, the higher the rotation angle measurement precision is, and is suitable for occasions with high requirements on the rotation angle measurement precision.