The invention relates to an aircraft skin feature recognition and edge milling path planning method. The method comprises the steps of preprocessing an original point cloud image, extracting point cloud image features, calculating a point cloud attitude based on a time sequence, planning a path based on feature points, and fitting and re-segmenting a processing track. According to the method, aiming at a skin frame structure of an aircraft, an industrial robot is taken as a carrier, skin trimming reference information is acquired by utilizing a linear laser scanner, two online and offline data processing modes are provided, a processing path is planned according to a process, the robot is guided to complete a shape follow-up motion task, and the adaptability of a processing process is improved. According to the method, the feature points are subjected to time sequence-based consistency optimization by utilizing the continuity of the change of the feature points in the processing process; and during online trimming, fitting is carried out by utilizing a feature structure of a processing reference surface, original point cloud images at adjacent moments are compared, the relative postures of the original point cloud images and the original point cloud images are mapped in a base coordinate system, and the pose state of the point cloud at the target moment is quickly determined by virtue of the relative posture relationship.
本发明涉及一种飞机蒙皮特征识别与铣边路径规划方法。本方法包括对原始点云图像进行预处理、点云图像特征提取、基于时序的点云姿态计算、基于特征点的路径规划、加工轨迹拟合与再分割。本方法针对飞机的蒙皮框架结构,以工业机器人为载体,利用线激光扫描仪获取蒙皮修边基准信息,提供在线与离线两种数据处理模式并依照工艺规划加工路径,指导机器人完成随形运动任务,提升加工过程的适应性。本方法利用加工过程特征点变化的连续性,将特征点进行基于时序的一致性优化;在线修边时,利用加工基准面特征结构进行拟合,将相邻时刻的原始点云图像进行对比,使两者的相对姿态映射在基坐标系中,凭借相对姿态关系快速确认目标时刻点云的位姿状态。
Aircraft skin feature recognition and edge milling path planning method and system
一种飞机蒙皮特征识别与铣边路径规划方法及系统
05.12.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | G06V / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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