基于多传感融合的自动钻铆孔位在线测量方法

Online Measurement Method for Automatic Drilling and Riveting Based on Multi-sensor Fusion

为了获得飞机壁板自动钻铆中孔位的实际位置和法向信息,提出了一种基于视觉和激光测距多传感器融合的孔位在线测量方法,该方法可以实时获得钻铆任务的孔位偏差修正量,从而保证壁板钻铆质量。首先,通过建立视觉和激光测距传感器与钻铆机参考坐标系间的映射关系,获得了钻铆孔位在线测量的多传感器融合模型,给出了孔位位置和法向的在线测量原理。然后,为了简化标定过程和提高标定精度,设计了一种同时适用于视觉和激光测传感器的标定板,给出了位置和法向测量的标定方法。最后,测量试验表明,多传感融合的在线测量方法孔位测量位置误差≤0.2 mm,法向误差≤0.3°,能够满足飞机钻铆孔位测量精度要求。

In order to obtain the actual position and normal vector information in the process of automatic drilling and riveting for aircraft components assembly,an on-line measurement method based on multi-sensor fusion included with vision and laser distance sensors is proposed.The method can obtain the correction of hole position deviation in real time and guarantee the quality of riveting and drilling.Firstly,by establishing the mapping relationship between the sensors and the reference coordinate system of the machine,the multisensor fusion model for on-line measurement of drilling and riveting holes is obtained.Besides,the on-line measurement principle of the hole position and orientation vector is given.Then,in order to simplify the calibration process and improve the accuracy of the calibration,a calibration target suitable for both vision and laser distance sensors is designed.Moreover,the calibration method about the position and orientation vector measurement is given.Finally,through the test,the position error of the hole position on-line measurement is no more than 0.2 mm,and the orientation error is within 0.3°,which can meet the accuracy requirements of hole measurement during aircraft drilling and riveting.