研究目的
To detect the base hole of large aviation parts in manufacturing and assembly using a line laser scanning method and to propose an effective edge detection algorithm for processing the 3-D point cloud data collected during the detection process.
研究成果
The edge detection algorithm is effective and applicable to the robotic drilling system. The elliptical parameterization method of the edge of the base hole is reasonable and practicable. The correlation coefficient R2 under different scan line spacing can achieve >97%, meeting the practical need of engineering application.
研究不足
The method's accuracy and repeatability require further uncertainty analysis. The scan line spacing affects the detection results, with smaller spacing providing higher calculation accuracy.
1：Experimental Design and Method Selection:
A detection method based on the line laser is presented to detect the base hole. An edge detection algorithm including a gradient-based edge extraction algorithm and an edge parameterization method is proposed.
2：Sample Selection and Data Sources:
The base hole of the aircraft frame is calibrated. Data is collected by the robot’s end effector which scans the base hole by driving line laser.
3：List of Experimental Equipment and Materials:
KUKA KR300 industrial robot with a repeatability of ±0.08mm and the line laser KEYENCE KJ-G
4：08mm and the line laser KEYENCE KJ-GExperimental Procedures and Operational Workflow:
200.
4. Experimental Procedures and Operational Workflow: The robot is controlled to move at a constant speed in the direction parallel to the surface of the workpiece where the base hole is located. The scanner moves at a certain speed along the positive direction of the Y axis to acquire data.
5：Data Analysis Methods:
The gradient of z value in the X direction is calculated to extract the edge of point cloud on X axis. The edge points are parameterized using an elliptic curve.
独家科研数据包，助您复现前沿成果，加速创新突破
获取完整内容
