Please wait a minute...
 机械与能源工程

1.浙江大学 机械工程学院 浙江省先进制造技术重点实验室,浙江 杭州 310027
2.西安飞机工业（集团）有限责任公司,陕西 西安 710089
Method of countersink perpendicularity detection using vision measurement
BI Yun bo, XU Chao, Fan Xin tian, YAN Wei miao
1. Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, College of Mechanical Engineering, Zhejiang;
University, Hangzhou 310027,China;
2. AVIC Xi′an Aircraft Industry（Group） Limited Company, Xi′an 710089, China
 全文: PDF(2422 KB)   HTML

Abstract:
A new method based on vision measurement was proposed to improve the accuracy and automation of the countersink perpendicularity detection process. Firstly, a mathematics computing model for countersink perpendicularity based on parallel projection was established, which could convert the 3D measurement problem into a 2D problem. Secondly, the perspective geometry theory was applied to correct the calculation model to reduce the error caused by the perspective projection. The Newton iterative algorithm was adopted to solve the nonlinear equation of the calculation model. Finally, the relationship between the algorithm accuracy and the countersink depth as well as the photographic distance was analyzed. A complete experiment was designed for automatical robot-based drilling and vision measurement. Results show that the mean error of the vision-based detection for countersink perpendicularity is about 0.03°with the proposed method.

 CLC: TP 39

 服务 把本文推荐给朋友 加入引用管理器 E-mail Alert 作者相关文章

#### 引用本文:

BI Yun bo, XU Chao, Fan Xin tian, YAN Wei miao. Method of countersink perpendicularity detection using vision measurement. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 10.3785/j.issn.1008-973X.2017.02.012.

 ［1］ 袁红璇.飞机结构件连接孔制造技术［J］.航空制造技术,2007,1: 96-99. YUAN Hongxuan. Manufacturing technology of connecting hole in aircraft structures ［J］. Aeronautical Manufacturing Technology,2007,1: 96-99. ［2］ 毕运波,李永超,顾金伟,等.机器人自动化制孔系统［J］.浙江大学学报：工学版,2014,8(7):1427-1433. BI Yunbo, LI Yongchao, GU Jinwei, et al. Robotic automatic drilling system ［J］. Journal of ZhejiangUniversity: Engineer Science,2014,8(7): 1427-1433. ［3］ ZHU Weidong, MEI Biao,YAN Guorui. Measurement error analysis and accuracy enhancement of 2D vision system for robotic drilling ［J］. Robotics and CompuerIntegrated Manufacturing,2014,30(2): 160-171. ［4］ JIANG Z,XU D,TAN M,et al. MEMS Assembly with the simplex focus measure［C］∥ Proceedings of IEEE International Conference on Mechatronics and Automation. Ontario: $s.n.$ 1,2005: 1118-1122. ［5］ 魏振忠,张广军.透视投影变换中椭圆中心畸变误差模型及其仿真研究［J］.仪器仪表学报,2003,24(2):160-164. WEI Zhenzhong, ZHANG Guangjun. A distortion error model of the perspective projection of ellipse center and Itssimulation［J］. Chinese Journal of Scientific Instrument,2003,24(2): 160-164. ［6］ 于起峰,孙祥一,邱志强.从单站光测图像确定空间目标三维姿态［J］.光学技术,2002,1(5): 77-82. YU Qifeng, SUN Xiangyi, QIU Zhiqiang. Approach of determination of object’s 3D pose from monoview ［J］. Optical Technique,2002,1(5): 77-82. ［7］ 费少华,方强,孟祥磊,等.基于压脚位移补偿的机器人制孔锪窝深度控制［J］.浙江大学学报:工学版,2012,46(7): 1157-1161. FEI Shaohua, FANG Qiang, MENG Xianglei, et al. Countersink depth control of robot drilling based on pressure foot displacement compensation ［J］. Journal of Zhejiang University: Engineer Science,2012,46(7):1157-1161. ［8］ 董辉跃,曹国顺,曲巍巍,等.工业机器人自动化钻孔及锪窝一体化加工［J］.浙江大学学报:工学版,2013,47(2): 201-208. DONG Huiyue, CAO Guoshun, Qu weiwei, et al. Processing research of industry robots drilling and countersinking automaticly ［J］. Journal of Zhejiang University: Engineer Science,2013, 47(2): 201-208. ［9］ F.罗伊特.画法几何学［M］.北京：机械工业出版社,1991. ［10］ 姚恩瑜,何勇,陈仕平.数学规划与组合优化［M］.杭州：浙江大学出版社,2001. ［11］ CHEN C,HWANG R,CHEN Y. A passive autofocus camera control system［J］. Applied Soft Computing, 2010,10(1): 296-303. ［12］ 朱伟东,曹良洪,梅标,等.利用圆心不对称投影精确标定工业相机［J］.光学精密工程,2014, 22(8):2267-2273. ZHU Weidong, CAO Lianghong, MEIBiao, et al. Calibration of industrial cameras using asymmetric circle center projection ［J］. Optics and Precision Engineering, 2014,22 (8):2267-2273.
 [1] 郑守国,张勇德,谢文添,樊虎,王青. 基于数字孪生的飞机总装生产线建模[J]. 浙江大学学报(工学版), 2021, 55(5): 843-854. [2] 张师林,马思明,顾子谦. 基于大边距度量学习的车辆再识别方法[J]. 浙江大学学报(工学版), 2021, 55(5): 948-956. [3] 刘雪娇,殷一丹,陈蔚,夏莹杰,许佳丽,韩立东. 基于区块链的车联网数据安全共享方案[J]. 浙江大学学报(工学版), 2021, 55(5): 957-965. [4] 宋鹏,杨德东,李畅,郭畅. 整体特征通道识别的自适应孪生网络跟踪算法[J]. 浙江大学学报(工学版), 2021, 55(5): 966-975. [5] 蔡君,赵罡,于勇,鲍强伟,戴晟. 基于点云和设计模型的仿真模型快速重构方法[J]. 浙江大学学报(工学版), 2021, 55(5): 905-916. [6] 尤明辉,殷亚凤,谢磊,陆桑璐. 基于行为感知的用户画像技术[J]. 浙江大学学报(工学版), 2021, 55(4): 608-614. [7] 王虹力,郭斌,刘思聪,刘佳琪,仵允港,於志文. 边端融合的终端情境自适应深度感知模型[J]. 浙江大学学报(工学版), 2021, 55(4): 626-638. [8] 张腾,蒋鑫龙,陈益强,陈前,米涛免,陈彪. 基于腕部姿态的帕金森病用药后开-关期检测[J]. 浙江大学学报(工学版), 2021, 55(4): 639-647. [9] 张玉琪,郭斌,丁亚三,刘思聪,於志文. 社交网络假消息辟谣作用机理[J]. 浙江大学学报(工学版), 2021, 55(4): 615-625. [10] 郑英杰,吴松荣,韦若禹,涂振威,廖进,刘东. 基于目标图像FCM算法的地铁定位点匹配及误报排除方法[J]. 浙江大学学报(工学版), 2021, 55(3): 586-593. [11] 雍子叶,郭继昌,李重仪. 融入注意力机制的弱监督水下图像增强算法[J]. 浙江大学学报(工学版), 2021, 55(3): 555-562. [12] 于勇,薛静远,戴晟,鲍强伟,赵罡. 机加零件质量预测与工艺参数优化方法[J]. 浙江大学学报(工学版), 2021, 55(3): 441-447. [13] 徐利锋,黄海帆,丁维龙,范玉雷. 基于改进DenseNet的水果小目标检测[J]. 浙江大学学报(工学版), 2021, 55(2): 377-385. [14] 胡惠雅,盖绍彦,达飞鹏. 基于生成对抗网络的偏转人脸转正[J]. 浙江大学学报(工学版), 2021, 55(1): 116-123. [15] 陈杨波,伊国栋,张树有. 基于点云特征对比的曲面翘曲变形检测方法[J]. 浙江大学学报(工学版), 2021, 55(1): 81-88.