Visual positioning and detecting method for aircraft skin mobile robot drilling

Abstract

The invention discloses a visual positioning and detecting method for drilling of an aircraft skin mobile robot. The method comprises the following steps of: 1, calibrating a binocular camera installed on a tail end flange of the mobile robot; 2, calibrating the binocular camera and the mobile robot; 3, establishing a matching template; 4, establishing a pose relation between a robot coordinate system and an aircraft coordinate system; 5, hole making; and 6, detecting the depth of the dimple. The method has the characteristics that the aircraft skin hole making efficiency and precision are greatly improved through visual positioning of the binocular camera, the hole making problem of the curved-surface thin skin is particularly solved, the dimple depth can be automatically detected after hole making, the requirements for high-precision hole making and detection of the aircraft skin are met, and the overall working efficiency is improved.

Description

technical field [0001] The invention relates to the technical field related to aircraft manufacturing, in particular to a visual positioning and detection method for drilling holes of an aircraft skin mobile robot. Background technique [0002] Aerospace products are not only huge in shape, but also have many parts and complex coordination relations. The processing and assembly requirements for parts are very strict. In the assembly process of aerospace products, riveting is a very common linking method, and the quality of its hole making has a great impact on aircraft safety. It has a huge impact on life and life. At present, more and more robots are used for automatic hole making, but how to accurately locate the processing point is a crucial difficulty, and the positioning technology usually used today still needs to be improved in accuracy, especially It is difficult to compensate for the errors caused by the movement of the robot. In addition, at this stage, the inspect...

AI Technical Summary

Problems solved by technology

[0002] Aerospace products are not only huge in shape, but also have many parts and complex coordination relations. The processing and assembly requirements for parts are very strict. In the assembly process of aerospace products, riveting is a very common linking method, and the quality of its hole making has a great impact on aircraft safety. It has a huge impact on life and life. At present, more and more robots are used for automatic hole making, but how to accurately locate the processing point is a crucial difficulty, and the positioning technology usually used today still needs to be improved in accuracy, especially It is difficult to compensate for the errors caused by the movement of the robot. In addition, at this stage, the inspection of hole-making countersinks is mainly performed manually. Determining factors that limit product quality and stability

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