CN102773524A - Hole making method with alignment based on machine vision - Google Patents
Hole making method with alignment based on machine vision Download PDFInfo
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- CN102773524A CN102773524A CN2012102694111A CN201210269411A CN102773524A CN 102773524 A CN102773524 A CN 102773524A CN 2012102694111 A CN2012102694111 A CN 2012102694111A CN 201210269411 A CN201210269411 A CN 201210269411A CN 102773524 A CN102773524 A CN 102773524A
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Abstract
The invention provides a hole making method with alignment based on machine vision. The hole making method is realized through a vision measurement technology of a vision camera, and comprises the following steps of: photographing a locating pin on the surface of a wall plate through the vision camera; carrying out pixel processing on the photographed image through an image processing system; calculating to obtain a geometric center of the locating pin; further calculating to obtain a deviation value of a center of the vision camera and the geometric center of the locating pin; transmitting the deviation value into a movement mechanism controller; driving a movement mechanism to move; and forming a feedback measurement and error compensation closed-loop system until the deviation value reaches to position accuracy requirement of hole making. A projective point of a hole making main shaft projected on a wall plate face is ensured to be consistent to the geometric center of the locating pin, so that the position accuracy of hole making is ensured. Connecting holes with high accuracy can be prepared quickly, the cost is obviously reduced, the work environment is improved, and the hole making efficiency and the assembly accuracy are greatly improved.
Description
Technical field
The invention belongs to advanced digitlization assembling and make and automatic field, be specifically related to a kind of digitlization method for drilling based on machine vision centering technology.
Background technology
In order to realize connecting accurately and reliably between the parts, the general employing of aircraft target ship assembling is spirally connected or rivets, and drilling is a critical process link of realizing its connection on aircraft target ship, and the drilling quality will directly influence the intensity and the fatigue life of aircraft.And the drilling mode of aircraft target ship mainly contains artificial boring and semi-automatic drilling at present; Borehole accuracy and efficient are low manually, labour intensity is big; Semi-automatic drilling still needs the part manual intervention; Like location, centering, data input and numerical control programming, can not be well and CAD system mutual, fail really to realize the automation drilling.
The automatic hole fabrication techniques of industrial robot is a kind of advanced person's automation, a digitlization manufacturing technology, needs the industrial circle of a large amount of drillings to have great significance to aircraft assembling and other.The automatic hole fabrication techniques of industrial robot is the important application and the research direction of aircraft flexible assembly technology, and it can significantly improve drilling precision and efficient.In order to realize digitlization, flexibility and the intellectuality of the automatic drilling of industrial robot system, need install vision detection system additional for industrial robot.Vision system can provide navigation and locating information for the automatic drilling process of industrial robot.
Mechanical vision inspection technology is the key that realizes the industrial robot second positioning, and in the prior art, machine vision mainly contains laser vision and two kinds of visual sensing modes of video camera vision.Laser vision mainly utilizes equipment such as laser tracker to obtain the positional information of impact point, and characteristics are that precision is high, but equipment price is expensive, and gained information is comparatively single.The video camera vision is used comparatively extensive in automated system, is characterized in containing much information, speed is fast, precision is high and cost is lower, and therefore the vision centering technology based on video camera goes for the automatic drilling of industrial robot system.
Patent CN101630409B is a kind of two-dimentional trick vision calibration method that is used for drilling system of robot of BJ University of Aeronautics & Astronautics's invention; This method has been ignored the depth information of video camera in the trick relation; Calibration process is converted into geometrical relationship; Calibration process is easy, and precision is high and do not need expensive three-dimensional coordinates measurement equipment.This patent mainly provides a kind of hand and eye calibrating method, and for the vision centering and the interpolation calculation process shorter mention of position, hole.Document " the drilling system of robot that is used for the automatic drilling of aircraft components " has been developed a drilling system of cover aircraft components level robot to aircraft components automation drilling problem; System relates to advanced technologies such as Robotics, advanced manufacturing technology and trick vision technique; Vision detection system wherein provides drilling and welding seam position information; And do not relate to mutual with the CAD digital-to-analogue, influence the efficient of visual level of user and programming.
Summary of the invention
In order to overcome the deficiency of prior art; The present invention provides a kind of digitlization method for drilling based on machine vision centering technology, can realize preparing apace the high accuracy connecting hole, can significantly reduce cost; Improve working environment, greatly improve drilling efficient and assembly precision.
The technical solution adopted for the present invention to solve the technical problems is: the vision measurement technology through vision camera realizes; Vision camera is taken pictures to the location nail of panel surfaces; Image processing system carries out processes pixel to captured image then, calculates the geometric center of location nail, and then calculates vision camera center and the deviate of locating the nail geometric center; And send it in the motion controller; The drive movement mechanism kinematic forms and measures feedback and error compensation closed-loop system, reaches the drilling position accuracy demand up to deviate.The subpoint on the wallboard face that can guarantee the drilling main shaft is consistent with the geometric center of locating pin, thereby guarantees the positional precision of drilling.
The present invention includes following steps:
(1) demarcation of vision camera and main spindle's debugging.To testpieces, carry out following steps:
1. vision measurement: utilize vision camera that the location nail is taken pictures, to bat image distort correction and pixel computing; The identification of comparing of image after will handling then and the standard picture in the system model storehouse is calculated the image that settles the standard through pixel, if there is not this standard picture in the model library, adds this image to the system model storehouse as custom images; And then calculate the deviate a of vision camera center and location nail geometric center through pixel.
2. error is judged: judge whether deviate a reaches the drilling position accuracy demand.If deviate a≤drilling error requirements then writes down this position coordinates b, carry out next step; Otherwise,, and return step 1. according to deviate a moving-vision video camera.
3. location position: guarantee that vision camera position and attitude are constant, drilling on testpieces; Moving-vision video camera then, according to step 1., 2. method, substitute this position, hole of nail centering, location with institute drilling position, and write down its position coordinates c; According to the position of location nail with institute's drilling, calculate both position deviation d at last, promptly the side-play amount d between vision camera and the drilling main shaft is input to this side-play amount in the control system at last, accomplishes the biasing of main shaft.
(2) to part to be processed, the driven visual camera motion is to the theoretical position of location nail; Then, according in the step (1) 1., 2. centering should location nail.
(3) repeating step (2), all location nail centerings finish in part to be processed.
(4) locating pin position coordinates b is turned back to CAD system, revise digital-to-analogue locating pin positional information, and upgrade the locating pin position coordinates in the off-line procedure.
(5) carry out off-line procedure, according to locating pin position coordinates interpolation calculation institute porose position coordinate, and the beginning drilling.
The invention has the beneficial effects as follows:
(1) vision measurement, motion and control system thereof form the closed-loop system of measuring feedback and error compensation, and the monitoring holes bit error guarantees that the drilling site error satisfies required precision in real time.
(2) adopt CAA that CATIA is carried out secondary development, location nail positional information and CAD digital-to-analogue that vision camera is uploaded are mutual, and revised theory drilling position coordinates upgrades position, the hole information in the off-line procedure.
(3) realize position, hole automatic capturing, location and program correction, can significantly reduce labour intensity, improved operating efficiency.
Description of drawings
The automatic drilling system schematic of Fig. 1 robot;
Fig. 2 vision calibration and examination cutter sketch map;
Fig. 3 vision camera and main shaft main spindle's are demarcated sketch map;
The automatic drilling flow chart of Fig. 4 robot;
Fig. 5 vision centering flow chart;
Fig. 6 vision camera course of work sketch map.
The specific embodiment
The present invention is used for when the automatic drilling of industrial robot, accurately finds the position coordinates of location nail on the aircraft target ship accurately; Upgrade the theory location nail positional information in digital-to-analogue and the off-line procedure, and then, can significantly improve the drilling positional precision for host computer and industrial robot controller provide required drilling positional information.
The invention provides a kind of position, hole aligning method based on machine vision; Be used for the automatic drilling of robot of aircraft target ship; Demarcate the position of vision camera and drilling main shaft; The offset error of following closely with actual location is followed closely in the theory location of upgrading in digital-to-analogue and the off-line procedure, guarantees the positional precision of industrial robot drilling.The integrated formed closed-loop system of vision camera, host computer and industrial robot; Can measure the feedback subpoint of drill spindle on the wallboard face and the offset error of actual drilling point in real time; And revise through closed-loop system, guarantee the positional precision of industrial robot drilling.Through steps such as aircraft target ship location, location nail search, industrial robot motion, location nail centering, revised theory digital-to-analogue, the biasings of drilling main shaft; Realize the preparation accurately and fast of aircraft target ship connecting hole; Guarantee the high assembly precision requirement of aircraft target ship; Improve drilling efficient, reduce labour intensity.
Below in conjunction with accompanying drawing and embodiment, further describe the present invention.
Aluminium alloy aircraft target ship to length * wide * thick=5000mm * 1400mm * 2mm band curvature is carried out accurate drilling, the hole site precision is controlled at ± 0.2mm in, the requirement in aperture is Ф 4+0.08mm.The rectangular coordinate system initial point is the tool setting point on the aircraft target ship drilling frock, and directions X is the aircraft target ship course, and the Y direction is direction straight up, and the Z direction is the exterior normal direction of aircraft target ship.The practical implementation step is following:
(1) demarcation of vision camera and main spindle's debugging.To testpieces,
1. vision measurement: utilize vision camera that the location nail is taken pictures, to claps image distort correction and pixel calculating; The identification of comparing of image after will handling then and the standard picture in the system model storehouse, calculating the image that settles the standard through pixel is hex screw;
2. and then through pixel calculate vision camera center and deviate (the △ X that locatees the nail geometric center
i, △ Y
i) the error judgement.Judge whether deviate reaches the drilling position accuracy demand, if (△ X
i, △ Y
i)＜δ then writes down this position coordinates (X
i, Y
i), and carry out next step; Otherwise, according to deviate (△ X
i, △ Y
i) the moving-vision video camera, and return 1. i=i+1 (i is since 1).
3. location position: guarantee that vision camera position and attitude are constant, drilling on testpieces; Moving-vision video camera then, according to 1., 2. this position, hole of method centering, and write down its position coordinates (m, n); According to the position of location nail, calculate both position deviations at last with institute's drilling
Be vision camera with
Side-play amount between the drilling main shaft is at last with this side-play amount △ X
0, △ Y
0Be input in the control system, accomplish the biasing of main shaft.
(2), move to the theoretical position (a of location nail according to the off-line procedure vision camera to this wallboard to be processed
1, b
1); Then, according in the step (1) 1., 2. centering should location nail.
(3) upgrade digital-to-analogue and off-line procedure.Will 2. middle location nail position coordinates (X
i, Y
i) turn back to CAD system, based on CAA CATIA is carried out secondary development, revise digital-to-analogue location nail positional information, and upgrade the location nail coordinate in the off-line procedure.CATIA is the three-dimensional CAD of new generation/CAM product of French Da Suo company exploitation, is mainly used in 3D design and simulation.Component Application Architecture (CAA) component application framework is the strong tool that expansion of Dassault Systemes product and client carry out secondary development.Among the present invention to CATIA secondary development mainly be in CATIA software, to increase a some position information modified module, to realize manually with automatically revising of locating pin position coordinates.
(4) according to (2) and (3), to next one location nail (a
2, b
2) centering; Then, carry out next step.
(5) drilling.Carry out off-line procedure, according to locating pin position coordinates interpolation calculation institute porose position coordinate, and the beginning drilling.Its mesopore position coordinate is:
Claims (1)
1. the method for drilling based on the machine vision centering is characterized in that comprising the steps:
(1), carry out following steps to testpieces:
1. utilize vision camera that the location nail is taken pictures, the bat image is distorted revise and the pixel computing; The identification of comparing of image after will handling then and the standard picture in the system model storehouse is calculated the image that settles the standard through pixel, if there is not this standard picture in the model library, adds this image to the system model storehouse as custom images; And then calculate the deviate a of vision camera center and location nail geometric center through pixel;
2. judge whether deviate a reaches the drilling position accuracy demand; If deviate a≤drilling error requirements then writes down this position coordinates b, carry out next step; Otherwise,, and return step 1. according to deviate a moving-vision video camera;
3. guarantee that vision camera position and attitude are constant, drilling on testpieces; Moving-vision video camera then, according to step 1., 2. method, substitute this position, hole of nail centering, location with institute drilling position, and write down its position coordinates c; According to the position of location nail with institute's drilling, calculate both position deviation d at last, promptly the side-play amount d between vision camera and the drilling main shaft is input to this side-play amount in the control system at last, accomplishes the biasing of main shaft;
(2) to part to be processed, the driven visual camera motion is to the theoretical position of location nail; Then, according in the step (1) 1., 2. centering should location nail;
(3) repeating step (2), all location nail centerings finish in part to be processed;
(4) locating pin position coordinates b is turned back to CAD system, revise digital-to-analogue locating pin positional information, and upgrade the locating pin position coordinates in the off-line procedure;
(5) carry out off-line procedure, according to locating pin position coordinates interpolation calculation institute porose position coordinate, and the beginning drilling.
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Cited By (21)
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| CN103522126A (en) * | 2013-10-12 | 2014-01-22 | 航天海鹰(镇江)特种材料有限公司 | Precise locating method for automatic assembly hole making |
| CN104552341A (en) * | 2014-12-29 | 2015-04-29 | 国家电网公司 | Single-point multi-view meter-hanging posture error detecting method of mobile industrial robot |
| CN106270620A (en) * | 2016-08-29 | 2017-01-04 | 山东莱钢建设有限公司 | F type section of track rig |
| CN106624025A (en) * | 2016-09-30 | 2017-05-10 | 图灵视控（北京）科技有限公司 | Intelligent flexible machining system and detecting system based on machine vision |
| TWI594097B (en) * | 2015-03-03 | 2017-08-01 | 康耐視公司 | System and methods for virtual assembly of an object in an assembly system |
| CN107225569A (en) * | 2016-03-25 | 2017-10-03 | 发那科株式会社 | Positioner |
| CN107560544A (en) * | 2017-09-12 | 2018-01-09 | 上海大学 | One kind is used for robot hole positioning and normal direction measurement apparatus and method |
| CN107816941A (en) * | 2016-09-14 | 2018-03-20 | 波音公司 | Perform the photogrammetric identification in the place of work |
| CN107860347A (en) * | 2017-10-31 | 2018-03-30 | 大族激光科技产业集团股份有限公司 | Drilling machine two pin accuracy checking methods |
| CN108544434A (en) * | 2018-02-05 | 2018-09-18 | 西安理工大学 | A kind of automatic punching system Experimental Calibration integral work table and scaling method |
| CN108817479A (en) * | 2018-07-23 | 2018-11-16 | 重庆工业职业技术学院 | A kind of slant hole processing device |
| CN109387817A (en) * | 2018-12-14 | 2019-02-26 | 公安部上海消防研究所 | A kind of detection system and method for radar life-detection instrument |
| CN109550879A (en) * | 2018-12-24 | 2019-04-02 | 福建渃博特自动化设备有限公司 | A kind of metal plate riveting method of view-based access control model |
| TWI660255B (en) * | 2018-01-19 | 2019-05-21 | 所羅門股份有限公司 | Workpiece processing method and processing system |
| CN110000606A (en) * | 2019-04-18 | 2019-07-12 | 哈尔滨工业大学 | A kind of presetting cutter method for processing Terahertz slow-wave structure part |
| CN110376963A (en) * | 2019-07-17 | 2019-10-25 | 华中科技大学 | It is a kind of based on the closed-loop control precision machining method detected in place and system |
| CN111015542A (en) * | 2019-11-20 | 2020-04-17 | 中国航发西安动力控制科技有限公司 | Alignment fixture and alignment method for installation state of complex shell |
| CN111360289A (en) * | 2020-04-15 | 2020-07-03 | 成都飞机工业（集团）有限责任公司 | Part hole site local correction device and system hole lathe |
| CN111408855A (en) * | 2020-04-10 | 2020-07-14 | 一汽解放汽车有限公司 | Automatic alignment device and method for circumferential micropore laser processing |
| CN112809037A (en) * | 2021-01-04 | 2021-05-18 | 中国航空制造技术研究院 | Method for drilling on curved surface structure |
| CN113706611A (en) * | 2021-10-22 | 2021-11-26 | 成都新西旺自动化科技有限公司 | High-precision correction control system and correction method based on visual precision movement mechanism |
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| CN103522126A (en) * | 2013-10-12 | 2014-01-22 | 航天海鹰(镇江)特种材料有限公司 | Precise locating method for automatic assembly hole making |
| CN104552341A (en) * | 2014-12-29 | 2015-04-29 | 国家电网公司 | Single-point multi-view meter-hanging posture error detecting method of mobile industrial robot |
| US10223589B2 (en) | 2015-03-03 | 2019-03-05 | Cognex Corporation | Vision system for training an assembly system through virtual assembly of objects |
| TWI594097B (en) * | 2015-03-03 | 2017-08-01 | 康耐視公司 | System and methods for virtual assembly of an object in an assembly system |
| CN107225569B (en) * | 2016-03-25 | 2020-04-10 | 发那科株式会社 | Positioning device |
| CN107225569A (en) * | 2016-03-25 | 2017-10-03 | 发那科株式会社 | Positioner |
| US10525598B2 (en) | 2016-03-25 | 2020-01-07 | Fanuc Corporation | Positioning system using robot |
| CN106270620A (en) * | 2016-08-29 | 2017-01-04 | 山东莱钢建设有限公司 | F type section of track rig |
| CN106270620B (en) * | 2016-08-29 | 2019-08-02 | 山东莱钢建设有限公司 | F type section of track drilling device |
| CN107816941A (en) * | 2016-09-14 | 2018-03-20 | 波音公司 | Perform the photogrammetric identification in the place of work |
| CN107816941B (en) * | 2016-09-14 | 2021-12-03 | 波音公司 | Photogrammetric identification of a place where work is performed |
| CN106624025A (en) * | 2016-09-30 | 2017-05-10 | 图灵视控（北京）科技有限公司 | Intelligent flexible machining system and detecting system based on machine vision |
| CN106624025B (en) * | 2016-09-30 | 2018-04-27 | 图灵视控（北京）科技有限公司 | Intelligent flexible system of processing and detecting system based on machine vision |
| CN107560544A (en) * | 2017-09-12 | 2018-01-09 | 上海大学 | One kind is used for robot hole positioning and normal direction measurement apparatus and method |
| CN107860347B (en) * | 2017-10-31 | 2020-08-04 | 深圳市大族数控科技有限公司 | Method for detecting accuracy of two pins of drilling machine |
| CN107860347A (en) * | 2017-10-31 | 2018-03-30 | 大族激光科技产业集团股份有限公司 | Drilling machine two pin accuracy checking methods |
| TWI660255B (en) * | 2018-01-19 | 2019-05-21 | 所羅門股份有限公司 | Workpiece processing method and processing system |
| CN108544434A (en) * | 2018-02-05 | 2018-09-18 | 西安理工大学 | A kind of automatic punching system Experimental Calibration integral work table and scaling method |
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| CN108817479B (en) * | 2018-07-23 | 2019-10-11 | 重庆工业职业技术学院 | A kind of slant hole processing device |
| CN109387817A (en) * | 2018-12-14 | 2019-02-26 | 公安部上海消防研究所 | A kind of detection system and method for radar life-detection instrument |
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| CN110376963A (en) * | 2019-07-17 | 2019-10-25 | 华中科技大学 | It is a kind of based on the closed-loop control precision machining method detected in place and system |
| CN111015542A (en) * | 2019-11-20 | 2020-04-17 | 中国航发西安动力控制科技有限公司 | Alignment fixture and alignment method for installation state of complex shell |
| CN111015542B (en) * | 2019-11-20 | 2021-05-04 | 中国航发西安动力控制科技有限公司 | Alignment fixture and alignment method for installation state of complex shell |
| CN111408855A (en) * | 2020-04-10 | 2020-07-14 | 一汽解放汽车有限公司 | Automatic alignment device and method for circumferential micropore laser processing |
| CN111408855B (en) * | 2020-04-10 | 2022-01-11 | 一汽解放汽车有限公司 | Automatic alignment device and method for circumferential micropore laser processing |
| CN111360289A (en) * | 2020-04-15 | 2020-07-03 | 成都飞机工业（集团）有限责任公司 | Part hole site local correction device and system hole lathe |
| CN112809037A (en) * | 2021-01-04 | 2021-05-18 | 中国航空制造技术研究院 | Method for drilling on curved surface structure |
| CN113706611A (en) * | 2021-10-22 | 2021-11-26 | 成都新西旺自动化科技有限公司 | High-precision correction control system and correction method based on visual precision movement mechanism |
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