Binocular vision and priori data based intelligent pose measurement method of large aerospace cylindrical components

Wei Fan, Qiang Fu, Yansheng Cao, Lianyu Zheng (), Xuexin Zhang and Jieru Zhang
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Wei Fan: Beihang University
Qiang Fu: Beihang University
Yansheng Cao: Beihang University
Lianyu Zheng: Beihang University
Xuexin Zhang: Beihang University
Jieru Zhang: Beijing Xinfeng Aerospace Equipment Co., Ltd

Journal of Intelligent Manufacturing, 2024, vol. 35, issue 5, No 12, 2137-2159

Abstract: Abstract In the robot finishing process of the assembly interface of large aerospace cylindrical components (short for assembly interface), to realize the high-precision and high-efficiency pose perception of the large component, an intelligent pose measurement method for the large component is proposed based on binocular vision and priori data. In this method, the global coordinate system of the robot finishing system is initially established using laser tracking measurement method and customized reference plates, giving a unified coordinate transformation datum for the interoperation of the finishing system's subsystems. Then, utilizing deep learning and digital image processing technologies, an algorithm for recognizing and locating key features of the large component is developed, which can realize the identification of key feature types and accurate localization of feature centroids. Following that, the global coordinate of the key feature centroid is determined using the proposed binocular vision three-dimensional (3D) coordinate reconstruction method. Meanwhile, by introducing the priori processing data of the large component to match the 3D reconstruction coordinates of the key feature centroids, the spatial pose of the large component can be calculated with high precision. Finally, the proposed method is experimentally validated using a case study of a large aerospace cylindrical component. Experimental results prove that the proposed method can achieve high-precision pose measurement of the large component, which can provide pose data support for the adjustment or modification of the cutting path of the robot that is generated by the as-designed model of the large component, to ensure the correctness of the robotic machining of the assembly interface, and thus the proposed method can meet the robot finishing needs of the large component.

Keywords: Large aerospace cylindrical component; Binocular vision; Priori processing data; Pose measurement; Laser tracking measurement (search for similar items in EconPapers)
Date: 2024
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DOI: 10.1007/s10845-023-02143-y

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