基于多传感融合的自动钻铆孔位在线测量方法.

In order to obtain the actual position and normal vector information in the process of automatic drilling and riveting for aircraft components assembly，an on-line measurement method based on multi-sensor fusion included with vision and laser distance sensors is proposed. The method can obtain the correction of hole position deviation in real time and guarantee the quality of riveting and drilling. Firstly，by establishing the mapping relationship between the sensors and the reference coordinate system of the machine，the multisensor fusion model for on-line measurement of drilling and riveting holes is obtained. Besides，the on-line measurement principle of the hole position and orientation vector is given. Then，in order to simplify the calibration process and improve the accuracy of the calibration，a calibration target suitable for both vision and laser distance sensors is designed. Moreover，the calibration method about the position and orientation vector measurement is given. Finally，through the test，the position error of the hole position on-line measurement is no more than 0.2 mm，and the orientation error is within 0.3°，which can meet the accuracy requirements of hole measurement during aircraft drilling and riveting. [ABSTRACT FROM AUTHOR]