A novel method of surface-normal measurement in robotic drilling for aircraft fuselage using three laser range sensors

Gong, Maozhen; Yuan, Pingzhi; Wang, Tianmiao; Yu, Leibin; Xing, Hongwen; Huang, Wen Nan

doi:10.1109/aim.2012.6266022

Cited by 19 publications

(9 citation statements)

References 9 publications

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“…When x = l 0 , y = m 0 , t = 1 , we can get the conical surface Eq. (15). in which Assuming l 0 = 0, m 0 = 0, n 0 = −k in point O ′ , we can get the simplified Eq.…”

Section: Solving Turning Angle β Through Camera Visionmentioning

confidence: 99%

“…There are three standard methods to measure the normal direction of the reference hole, which are eddy current, mechanical contact, and laser non-contact. Among them, non-contact laser measurements are the most widely used [13][14][15]. Multiple LDSs can be used in various layouts in the actual measurement, such as rectangular uniform layouts [4] and triangular layouts [16].…”

Section: Introductionmentioning

confidence: 99%

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A novel accurate positioning method of reference hole for complex surface in aircraft assembly

Zhang

Liu

Zheng

et al. 2021

Int J Adv Manuf Technol

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In the digital drilling and riveting process of complex surfaces such as aircraft panels, the reference hole is pre-drilled on the skin surface. Generally, four laser displacement sensors (LDSs) are used as a group for normal adjustment. The camera vision is used to determine the position of the reference hole to obtain the accurate positioning of the drilling position. However, while dealing with large curvature complex panel surface and panel edge, four LDSs have the problem of reflection laser disappearance or matching failure. Applying two LDSs for normal adjustment on one side, the projection of the reference hole on the camera focal plane is an ellipse which means a further normal adjustment is desired in the direction of the ellipse's minor axis. Therefore, this paper proposes a 3-dimensional pose estimation method (TDPEM) combining multi-sensor fusion and space geometry to realize the normal adjustment and position measurement of reference holes with a monocular camera and two LDSs. Firstly, two LDSs are used to adjust the reference hole's horizontal (or vertical) direction. And then, an ellipse contour extraction algorithm is proposed to determine the ellipse parameters. Finally, the pose of the reference hole on the panel is determined by a spatial circle reverse algorithm. The experiment proves that the position error and angle error between this algorithm and the traditional four-LDS-based measurement method are within 0.03 mm and 0.2°, respectively, which verifies the feasibility and reliability of this algorithm.

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“…When x = l 0 , y = m 0 , t = 1 , we can get the conical surface Eq. (15). in which Assuming l 0 = 0, m 0 = 0, n 0 = −k in point O ′ , we can get the simplified Eq.…”

Section: Solving Turning Angle β Through Camera Visionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A novel accurate positioning method of reference hole for complex surface in aircraft assembly

Zhang

Liu

Zheng

et al. 2021

Int J Adv Manuf Technol

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show abstract

“…Calderon [7] put forward an algorithm for surface normal determination using a neighborhood strategy based on local piecewise planes, and this algorithm greatly improved the accuracy of surface normal determination. Gong [8] proposed a novel method to measure the surface normal of an aircraft skin in order to improve the precision and efficiency of hole drilling. For aircraft panel mirror milling, Zhang [9] found that surface normal was critical to ensuring that the cutting tool path be consistent with the skin surface being machined.…”

Section: Introductionmentioning

confidence: 99%

A comparison study of algorithms for surface normal determination based on point cloud data

Song

Guo

et al. 2015

Precision Engineering

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“…Laser displacement sensors are commonly used non-contact measurement sensors, which have many advantages such as high-precision, low power consumption, high reliability and security [ 10 ]. Typically, three or four laser displacement sensors are installed on the pressure foot for surface normal measurement [ 11 , 12 ]. Due to the machining error of the pressure foot and the assembly errors, there are always small errors between the nominal and actual zero points and laser beam directions of laser displacement sensors.…”

Section: Introductionmentioning

confidence: 99%

A Normal Sensor Calibration Method Based on an Extended Kalman Filter for Robotic Drilling

Chen

Yuan

Wang

et al. 2018

Sensors

Self Cite

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To enhance the perpendicularity accuracy in the robotic drilling system, a normal sensor calibration method is proposed to identify the errors of the zero point and laser beam direction of laser displacement sensors simultaneously. The procedure of normal adjustment of the robotic drilling system is introduced firstly. Next the measurement model of the zero point and laser beam direction on a datum plane is constructed based on the principle of the distance measurement for laser displacement sensors. An extended Kalman filter algorithm is used to identify the sensor errors. Then the surface normal measurement and attitude adjustments are presented to ensure that the axis of the drill bit coincides with the normal at drilling point. Finally, simulations are conducted to study the performance of the proposed calibration method and experiments are carried out on a robotic drilling system. The simulation and experimental results show that the perpendicularity of the hole is within 0.2°. They also demonstrate that the proposed calibration method has high accuracy of parameter identification and lays a basis for high-precision perpendicularity accuracy of drilling in the robotic drilling system.

show abstract

A novel method of surface-normal measurement in robotic drilling for aircraft fuselage using three laser range sensors

Cited by 19 publications

References 9 publications

A novel accurate positioning method of reference hole for complex surface in aircraft assembly

A novel accurate positioning method of reference hole for complex surface in aircraft assembly

A comparison study of algorithms for surface normal determination based on point cloud data

A Normal Sensor Calibration Method Based on an Extended Kalman Filter for Robotic Drilling

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