基于线激光扫描的基准孔检测与定位方法

为了满足尖端制造领域中大部件的数字化钻孔与装配需求,利用线激光扫描仪和工业机械臂提出了基准孔自动检测与 定位系统及方法。 首先,对基准孔三维点云进行孔底点云插值补偿,采用双向梯度约束算法实现了基准孔的粗略边缘特征点提 取;然后,针对提取的边缘特征点,采用基于角度判断的细化算法和基于平面拟合的压缩算法,实现了边缘特征点的精细化提 取;最后,对边缘特征点进行空间圆参数化,得到了孔径和孔距,实现了基准孔的检测与定位。 实验结果表明:该方法对基准孔 的检测精度和定位精度(相对误差)分别为 1. 77% 和 0. 24% ,优于传统方法的 2. 77% 和 0. 46% ,能够满足生产制造中大部件的 数字化钻孔与装配要求。

A detection and positioning method for the base hole based on line laser scanning

To meet the digital drilling and assembly need of large components in the cutting-edge manufacturing field, an automatic detection and positioning system for base hole are proposed by using the line laser scanner and the industrial robotic arm. Firstly, the hole bottom point cloud interpolation compensation is implemented for the three-dimensional point cloud of the base hole, and the rough edge feature point extraction of the base hole is achieved by using the bidirectional gradient constraint algorithm. Secondly, for extracting edge feature points, a refinement algorithm based on angle judgment and a compression algorithm based on plane fitting are used to achieve the refined extraction of edge feature points. Finally, the edge feature points are parameterized in the space circle, and the aperture and hole distance are obtained. The detection and positioning of the base hole are achieved. Experimental results show that the detection accuracy and positioning accuracy ( relative error) of the proposed method for the base hole are 1. 77% and 0. 24% , respectively. These values are better than the 2. 77% and 0. 46% of the traditional method. It can meet the digital drilling and assembly requirements of large parts in manufacturing.