机器人原位铣削离散点云快速精简方法研究及应用  

Method and Application of Scattered Point Cloud Data Fast Simplification Used to Robot in-Situ Milling

作　　者：潘新[1] 赵建国[1] 刘标[1] 台春雷 刘哲[1] 黄宁[1] PAN Xin;ZHAO Jianguo;LIU Biao;TAI Chunlei;LIU Zhe;HUANG Ning(AVIC Shenyang Aircraft Industy(Group)Co.,Ltd.,Shenyang 110034,China)

机构地区：[1]航空工业沈阳飞机工业(集团)有限公司,沈阳110034

出　　处：《航空制造技术》2023年第7期67-72,共6页Aeronautical Manufacturing Technology

基　　金：基础加强计划重大基础研究项目(2019–JCJQ–DA–001–129)。

摘　　要：为了满足飞机装配机器人原位铣削对数字化高精度快速测量需求,开展了适应三维点云的双边滤波处理和快速精简算法研究,开发了点云快速处理与分析应用软件,实现了空间点云数据的降噪和精简处理,降低滤波对边界特征的损伤,有效保留了复杂构件圆角、筋条、空间曲线边界等关键特征。以典型样件为测试对象,通过与三坐标测量结果对比,验证了本文研究的有效性,软件接口开放性高,实现了与自动化设备的高度集成应用,避免了大量人机交互操作,缩短了数据处理时间,满足了机器人原位铣削的时效性需求。To meet high precision digital measuring of robot in-situ milling for aircraft assembly,the bilateral filtering processing and fast data simplification algorithms were studied for 3D point cloud software used to data acquisition and processing was developed,based on which 3D point cloud were processed including to denoise and simplify.The method of point cloud processing in this paper reduced the damage of filtering to boundary features,and saved effectively key features of complex components including round corner,rib and boundary of spatial curve.Taking typical samples as test objects,the methods of point cloud processing were tested to compare with CMM measurement results.Developed software realizes efficient integration with automation equipment,has high openness of software interface,avoids a lot of human-computer interaction,reduces data processing time,and meet the timeliness requirements of robot in-situ milling equipment.

关 键 词：飞机装配 机器人原位铣削 离散点云 数据精简 集成应用 

分 类 号：V262.4[航空宇航科学与技术—航空宇航制造工程] TP242[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]