基于结构光三维视觉测量的机器人制孔姿态修正方法  

Robotic hole drilling attitude correction method based on structured light 3-D visual measurements

作　　者：陈璐 关立文[1] 刘春 陈志雄 薛俊 CHEN Lu;GUAN Liwen;LIU Chun;CHEN Zhixiong;XUE Jun(Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China;Chengdu Aircraft Industrial(Group)Co.,Ltd.,Chengdu 610092,China;School of Mechanical and Electrical Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China;AVIC Manufacturing Technology Institute,Beijing 100025,China)

机构地区：[1]清华大学机械工程系,北京100084 [2]成都飞机工业(集团)有限责任公司,成都610092 [3]电子科技大学机械与电气工程学院,成都611731 [4]中国航空制造技术研究院,北京100025

出　　处：《清华大学学报（自然科学版）》2022年第1期149-155,共7页Journal of Tsinghua University(Science and Technology)

基　　金：国家重点研发计划项目(2017YFB1301702)。

摘　　要：在制孔工艺中,垂直度很大程度上影响着飞机装配精度、飞机使用寿命和安全性。开展基于先进视觉检测技术的姿态修正研究具有十分重要的意义。该文基于机器人制孔工艺流程,提出了基准孔位置和法向量检测的改进方法,设计了机器人视觉检测系统的工作原理和主要模块,搭建了仿真平台和原理样机;建立了法向量检测模块的三维测量模型,生成了工件表面的点云数据,通过基于无迹Kalman滤波的在线手眼标定方法,将相机坐标系中的点云转换成制孔刀具坐标系中的点云。通过提取待制孔点法向量,提出了机器人制孔姿态修正方法。三维测量结果表明:法向量检测方法精度能够满足航空工业对制孔垂直度的要求。The accuracy of the normal direction during hole drilling greatly affects the assembly accuracy and the service life and safety of aircraft.Therefore,better methods are needed for pose correction based on advanced visual detection methods.A reference normal direction detection method was developed for robotic hole drilling using a robotic visual inspection system that was tested using simulations and a prototype.The systems used a 3-D measurement model of the normal vector detection module to generate a point cloud on the workpiece surface.The point cloud in the camera coordinate system was then transformed into a point cloud in the hole drilling tool coordinate system by an online hand-eye calibration method based on a untraceless Kalman filter.After the normal vector to the surface is identified,a robotic hole drilling attitude correction algorithm is used to guide the drill.3-D measurements show that this normal vector detection method is accurate and meets the hole specification requirements for the aviation industry.

关 键 词：机器人制孔 编码结构光 孔位精度 垂直度 

分 类 号：V19[航空宇航科学与技术—人机与环境工程] TP242.2[自动化与计算机技术—检测技术与自动化装置]