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

CHEN Lu; GUAN Liwen; LIU Chun; CHEN Zhixiong; XUE Jun

doi:10.16511/j.cnki.qhdxxb.2021.26.028

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Journal of Tsinghua University(Science and Technology) ›› 2022, Vol. 62 ›› Issue (1) : 149-155. DOI: 10.16511/j.cnki.qhdxxb.2021.26.028

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

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Abstract

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.

Key words

robot drilling / encoded structured light / positioning accuracy / perpendicularity

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CHEN Lu, GUAN Liwen, LIU Chun, CHEN Zhixiong, XUE Jun. Robotic hole drilling attitude correction method based on structured light 3-D visual measurements[J]. Journal of Tsinghua University(Science and Technology). 2022, 62(1): 149-155 https://doi.org/10.16511/j.cnki.qhdxxb.2021.26.028

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