轨道式爬行机器人制孔基准的视觉高精度定位

High-Precision Visual Positioning of Hole-Making Datum for Orbital Crawling Robot

航空航天产品结构尺寸大、面形复杂、装配精度要求高,移动式机器人作为一种自动化装配装备,可实现飞行器表面爬行移动装配位姿的精准定位,补偿制孔机器人刀具中心点与工件之间的相对定位误差。针对穿心夹遮挡干扰下的装配基准三维识别与测量定位需求,提出了一种轨道式爬行机器人制孔基准的高精度定位方法。首先,基于灰度聚类的自适应轮廓提取算法实现基准孔轮廓的分割、识别和坐标计算;然后,基于靶标式高精度手眼标定方法实现基准孔坐标的三维转换;最后,在制孔装备上集成视觉测量系统并进行了现场测试和精度验证。实验结果表明,本方法对基准孔的定位误差小于0.05 mm,满足轨道式爬行制孔机器人的装配定位需求。

Aerospace products have large structural sizes,complex surface shapes,and high assembly accuracy requirements.As automated assembly equipment,mobile robots can achieve precise positioning of aircraft surface crawling and moving assembly poses as well as compensate the relative positioning error between the tool center point of the hole-making robot and the workpiece.Aiming at the requirement of the three-dimensional recognition and measurement positioning of assembly datum under the core clip interference,we propose a high-precision positioning method for the hole-making datum of the orbital crawling robot.First,the adaptive contour extraction algorithm based on gray-scale clustering is used to achieve the segmentation,recognition,and coordinate calculation of the reference hole contour.Then,the three-dimensional conversion of the reference hole coordinates is realized using the target-type high-precision hand-eye calibration method.Finally,a visual measurement system is integrated on the hole-making equipment,and field testing and accuracy verification are carried out.Experimental results show that the positioning error of the reference hole of the method is less than 0.05 mm,thus meeting the assembly and positioning requirements of the orbital crawling hole-making robot.