Assembly quality detection robot path planning method based on drawing understanding

Abstract

The invention discloses an assembly quality detection robot path planning method based on drawing understanding, and belongs to the technical field of assembly quality control. According to the method, the problem that the pose planning of the sensor needs to depend on the understanding of two-dimensional drawings by professionals in the existing method is solved. According to the method, firstly, key labeling information is identified from a drawing, and a target line referred by the labeling information in the drawing is confirmed; selecting an optimal skeleton template according to the matching score of the two-dimensional drawing and each skeleton template, mapping a target line referred to by a to-be-detected marking symbol to the surface of the three-dimensional CAD model of the assembly according to the projection direction of the optimal skeleton template, planning the robot to an optimal observation position, collecting an image by using a camera deployed on the robot, and carrying out the detection of the three-dimensional CAD model of the assembly. And intercepting a region of interest from the image according to the position of the feature corresponding to the target line in the three-dimensional CAD model, thereby realizing automatic detection of the assembly quality of the assembly. The method can be applied to the technical field of assembly quality control.

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