Product feature precise recognition method based on multi-sensor measurement
An identification method and multi-sensor technology, applied in measuring/indicating equipment, metal processing mechanical parts, manipulators, etc., can solve problems such as errors, inability to obtain spatial coordinate information of prefabricated holes, etc., and achieve the effect of accurate identification and extraction
Active Publication Date: 2019-12-20
AVIC BEIJING CHANGCHENG AVIATION MEASUREMENT & CONTROL TECH INST +2
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Problems solved by technology
However, since visual measurement can only obtain plane information, but not the spatial coordinate information of prefabricated holes, there is a large error in monocular visual measurement of complex components. Therefore, it is the key to the problem to effectively ensure the accuracy of visual measurement by adding other measurement sensors.
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[0016] See attached figure 1 As shown, this embodiment takes prefabricated holes on aircraft parts as an example to accurately identify the characteristics of prefabricated holes, and an automatic robot hole-making system is built for this purpose. The robot automatic hole making system includes a robot 1, an end effector 2, a calibration plate, a workpiece 3, and a tooling 4. The end effector 2 includes a pressing device 5, a feeding device 6, a normal angle measuring unit 7, and a laser distance sensor 8 . The visual sensor 9 and the end effector 2 are installed on the six-axis flange of the robot 1 . The calibration plate is a fixed-length grid, which is installed on the workpiece 3 in front of the robot, and the workpiece 3 is installed on the tooling 4 .
[0017] Before accurately identifying the features of prefabricated holes on aircraft component products, first refer to the attached figure 2 Calibrate the coordinates of the vision sensor and the robot; image 3 Ca...
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The invention discloses a product feature precise recognition method based on multi-sensor measurement. According to the method, measuring and adjusting are conducted through a laser ranging sensor and a normal angle measuring unit, the perpendicularity and the measuring spacing distance which are generated when standard features are recognized by a visual sensor are guaranteed, deviation measurement of pre-drilled holes is achieved, and the problem that when the pre-drilled holes are measured only by the visual sensor, the angle and the distance of a camera has influences on the measuring precision of the hole position is solved. Through the method of combining the laser ranging sensor, the normal angle measuring unit and the visual sensor, the consistency of hole position measuring dataand standardization data is guaranteed, therefore, the hole position precision is improved, the hole position measuring precision of the pre-drilled holes formed in the two ends is guaranteed, and a guarantee is provided for the precision of the subsequent to-be-drilled hole positions.
Description
technical field [0001] The invention relates to a method for accurately identifying product features based on multi-sensor measurement, and belongs to the technical field of mechanical assembly automation. Background technique [0002] In the assembly and manufacturing process of aircraft, the most common type of assembly is the connection assembly between the aircraft skin, ribs, and stringers. The hole making operation is to punch through the skin and the ribs and stringers supported on the back. Then tighten with rivets. Therefore, it is required that the arrangement of the holes on the aircraft siding is very regular and linearly extended along the direction of the ribs or trusses. [0003] Since the aircraft workpiece is usually large and thin, the relationship between it and the ribs is likely to have certain errors due to human assembly factors. Therefore, the consistency between the mathematical model of the workpiece and the actual model is often poor. Running the ...
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IPC IPC(8): B25J11/00B25J9/16B23Q17/24B23Q17/22
CPCB23Q17/2428B25J9/1694B25J9/1697B25J11/005
Inventor 崔静静张明华甘志超张玉如李明杨新鹏
Owner AVIC BEIJING CHANGCHENG AVIATION MEASUREMENT & CONTROL TECH INST