Abstract
Cylindrical intersecting holes(CIHs) are common connection and location reference features in assembly of large aerospace structures such as missile and rocket cabins. The posture accuracy of assembly holes significantly impacts the relative position accuracy of joined parts and fatigue strength of finished product. At present, monocular vision measurement is widely used in automatic drilling of assembly holes for its integration simplicity and lower cost, but in most research, only the front face edge of the hole is used in the measurement model, and the hole end surface is usually assumed to be plane, which inevitably leads to precision loss. In this research, a novel posture measurement method for CIHs is proposed. Firstly, by introducing an ambiguity removal strategy, a coarse posture estimation method based on plane hypothesis of the two end surfaces of CIHs is suggested. Secondly, considering that there is no simply explicit expression for CIHs edge, thus it is difficult to adopt the conventional model projection based pose optimization method. In view of this, the three-dimensional points corresponding to the edge pixels of CIHs image are derived, and the pose optimization model is established by minimizing the deviations between the distance from the points to the CIHs axis and the hole radius. Moreover, to better control the direction parameters of CIHs during the global optimization process, the approximately perpendicular and intersection constraints between CIHs axis and cylindrical component axis are involved in solution. The effectiveness of the posture measurement method is verified by comparative experiments with current methods and CMM, which demonstrates improvements on both measurement accuracy and robustness.
A novel method of 3D motion object’s position perception
