A method for accurate product feature recognition based on multi-sensor measurement
A sensor and visual sensor technology, applied in the direction of measuring/indicating equipment, program control manipulator, metal processing equipment, etc., can solve the problems of errors, inability to obtain spatial coordinate information of prefabricated holes, etc., and achieve the effect of accurate identification and extraction
Active Publication Date: 2021-03-05
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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Embodiment Construction
[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 present invention is a method for accurately identifying product features based on multi-sensor measurement. The method uses a laser ranging sensor and a normal angle measuring unit to measure and adjust, so as to ensure the verticality and measurement distance when the visual sensor recognizes the reference feature. , realize the deviation measurement of the prefabricated hole, and solve the influence of the angle and distance of the camera on the measurement accuracy of the hole position when only using the visual sensor to measure the prefabricated hole. By combining the laser ranging sensor, the normal measurement unit and the visual sensor, the consistency of the hole position measurement data and the calibration data is guaranteed, thereby improving the hole position accuracy and ensuring the preset hole positions at both ends. The accuracy of the measurement provides a guarantee for the accuracy of the subsequent holes to be made.
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