摘要: |
为了实现飞机蒙皮上钻孔点位处的法矢检测,基于结构光视觉测量原理,应用工业相机和十字线激光器等搭建了一套结构光视觉检测系统。建立了系统的数学模型,并采用张正友标定法和Hessian矩阵法等完成了模型参数的标定。在应用过程中,由十字线激光器将十字线结构光投射于被测蒙皮表面而形成两个特征光条,再由工业相机采集此时的蒙皮图像,而后通过图像处理解算出特征光条中心线的精确三维坐标,从而解算出特征光条交点处的法向信息,以此表征钻孔点位处的法矢。通过模拟样件实验验证了系统的实用性和有效性,并且重复性精度良好,为快速与精确钻孔提供了一项检测技术解决方案。 |
关键词: 结构光;自动钻铆;法向矢量;视觉检测 |
基金项目:航空科学基金青年项目(No. 2018ZE43006) |
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Study on Normal Vector Inspection at Drilling Position Based on Structured Light Vision |
Bi Chao Hao Xue
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Aviation Key Laboratory of Science and Technology on Precision Manufacturing Technology,Beijing Precision Engineering Institute for Aircraft Industry, Beijing 100076
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Abstract: |
For measuring the normal vector at the drilling position of aircraft surface, a structured light vision inspection system was set up in the paper, which was composed of industrial camera and cross laser device, etc. The mathematic model was established and its unknown parameters were derived by the calibration method proposed by Zhang Zhengyou and the extraction algorithm of center line of the feature strips based on Hessian Matrix. In the application, the feature strips on the target surface produced by the cross structured light were captured by industrial camera to compute the accurate 3D coordinates of the points on the center line of the cross structured light through image processing. And then, the normal information at the intersection of the feature strips could be calculated through least square curve fitting, which could be applied as representation of the normal vector at the drilling position. At last, the practicality and effectiveness of the system was verified by experiments on a simulation sample and the repeatability accuracy could meet the inspecting requirements, which showed that the system could serve as an inspection solution for the fast and accurate drilling task. |
Key words: structured light;automatic drilling & riveting;normal vector;vision inspection |