Binocular Vision Calculation Normal Vector Method for Automatic Hole Making and Automatic Drilling and Riveting of Aircraft Panels
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An aircraft wallboard, automatic drilling and riveting technology, applied in the direction of optical devices, image analysis, instruments, etc., to achieve the effect of improving quality and efficiency, accurate normal vector values, and solving normal vector problems
Active Publication Date: 2020-11-17
SHANGHAI SHANGFEI AIRCRAFT EQUIP MFG
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[0006] The purpose of the present invention is to overcome the defects existing in the prior art, to provide a binocular vision that effectively solves the problem of real-time detection of the normal vector of surface points, and has accurate data for automatic hole making and automatic drilling and riveting of aircraft panels. normal vector method
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Embodiment 1）
[0044] See Figure 4 to Figure 8, the present invention includes an end effector 1, a structured light emitter 2, a right camera 3 and a left camera 4; the structured light emitter 2, the right camera 3 and the left camera 4 are installed in front of the end effector 1 with adjustable angles , the method of finding the normal vector is:
[0045] (1) Use the structured light emitter 2 to project an 8×8 matrix light to the aircraft wall panel 5 around the position where holes need to be made or drilled and riveted. The matrix light will form a projection on the surface of the wall panel 5. There are 64 intersection points in this matrix.
[0046] (2) Use the binocular vision system to calculate the actual coordinates of the intersection point of the projection matrix (x 1 ,y 1 ,z 1 ) (x 2 ,y 2 ,z 2 )...(x 64 ,y 64 ,z 64 ); Calibrate the right camera 3 and the left camera 4, use the right camera 3 and the left camera 4 to shoot the projection matrix, and the photos taken...
Embodiment 2）
[0066] This embodiment is basically similar to Embodiment 1, the differences are: (1) Use a structured light emitter 2 to project a 9×9 matrix light to the aircraft wall panel 5 around the position that needs to be drilled or riveted, and the matrix light will The surface of the wall panel 5 forms a projection, and the matrix has 81 intersection points in total.
[0067] (2) Use the binocular vision system to calculate the actual coordinates of the intersection point of the projection matrix (x 1 ,y 1 ,z 1 ) (x 2 ,y 2 ,z 2 )...(x 81 ,y 81 ,z 81 ); Calibrate the right camera 3 and the left camera 4, use the right camera 3 and the left camera 4 to shoot the projection matrix, and the photos taken by the right camera 3 and the left camera 4 are respectively subjected to edge detection, edge fitting, and feature point extraction to obtain the photos The intersection point of the projection matrix in the middle, use stereo matching to determine the corresponding relationshi...
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Abstract
The invention relates to a binocular vision method for calculating normal vectors for automatic hole making and automatic drilling and riveting of aircraft wall panels, including an end effector, a structured light emitter, a right camera and a left camera; the structured light emitter, the right camera Both the camera and the left camera are installed in front of the end effector with adjustable angles, and use a structured light emitter around the position where holes need to be made or drilled and riveted to project m×m matrix light to the aircraft wall, and form a projection on the surface of the wall; Use the binocular vision system to calculate the actual coordinates of the intersection point of the projection matrix; calculate the actual coordinates of the intersection point of the projection matrix and use the least square method to fit the surface equation of the wall panel, and calculate the normal vector of any point on the surface through the surface equation. The numerical value of the normal vector obtained by the present invention is accurate, which effectively solves the problem of real-time detection of the normal vector of the curved surface point, reduces the error caused by the deformation of the curved surface caused by clamping or the self-weight of the workpiece, and improves the quality and efficiency of the curved surface hole making .
Description
technical field [0001] The invention belongs to the field of advanced digital assembly manufacturing and automation, and in particular relates to a binocular vision method for calculating normal vectors for automatic hole making and automatic drilling and riveting of aircraft wall panels. Background technique [0002] In the field of domestic aircraft assembly, manual drilling is still the main method of drilling aircraft wall panels. The working environment of manual drilling is harsh and the work efficiency is low. Therefore, the development of automatic hole-making equipment is of great significance. Automatic hole making equipment is a collection of many related technologies. [0003] At present, the relatively mature normal vector measurement method is to use three lasers to measure. This method is based on the readings of three laser displacement sensors, and uses the three-point method to calculate the normal vector of the area to be processed on the surface of the ai...
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