Research On Robot Hole Making Vision Positioning And Pose Solution Technology

Aerospace manufacturing industry as a strategic development industry,its production technology gradually from manual manufacturing to automation,intelligence.As a typical aviation product,aircraft has the characteristics of large volume,difficult processing and high processing accuracy requirements.Manual hole making greatly restricts the improvement of aircraft production and manufacturing efficiency and quality.It is urgent to introduce new assembly and manufacturing technology to improve the hole making efficiency and improve the hole making quality.The robot machining system can be composed of industrial robots and end actuators,which can realize the automatic drilling and assembly of aircraft and improve the efficiency and quality of aircraft manufacturing.It is of great practical significance to study the robot drilling technology to improve the level of domestic aircraft manufacturing automation.In this paper,a robot hole making system is established,and the vision positioning and hole making pose adjustment technology are studied in depth.The specific research contents are as follows:Firstly,the coordinate system of robot automatic drilling system is calibrated,including industrial robot coordinate system calibration,industrial camera calibration and hand eye calibration as well as line structured light sensor hand eye calibration.The coordinate system of each part involved in robot automatic drilling system I is established to establish a unified coordinate system of robot automatic drilling system and the conversion criteria between coordinate systems.Secondly,the visual positioning algorithm is studied by using the reference hole image,and the image processing algorithm is determined according to the effect of the reference hole image processing.In this paper,median filter is used to preprocess the image,Canny operator is used to extract the edge of the hole,and the nonlinear least sequares optimization circle fitting method is used to fit the reference hole,and the position of the reference hole in the image is obtained according to the fitting results.According to the result of hand eye calibration of industrial camera,the image position is transformed into the world coordinate system position,and the vision positioning of robot drilling system is realized.Thirdly,the 3D point cloud registration algorithm is used to solve the pose of the robot hole making.According to the pose relationship between the workpiece and 3D CAD model,the pose of the robot hole making is determined by the hand eye calibration results of the line structured light sensor.By analyzing the principle and method of 3D point cloud data acquisition,the efficiency and accuracy of point cloud registration can be improved.The two-step point cloud registration algorithm is used to roughly estimate and accurately estimate the pose relationship,and the precise matching algorithm is improved to improve the registration speed.Finally,the robot drilling system is established,the robot coordinate system is calibrated and the drilling experiment is carried out.Through the experiment,the image processing algorithm of reference hole location and the solution algorithm of hole making position are verified.The experimental results show that the drilling accuracy of the robot drilling system meets the requirements of aircraft drilling technology.