面向飞机蒙皮对缝的移动机器人自主跟踪方法

提出一种面向飞机蒙皮对缝的移动机器人自主跟踪方法,用以解决大型蒙皮上表面装配对缝的自动化测量问题。移动机器人包括对缝测量模块和运动控制模块,对缝测量模块在测量对缝间隙阶差的同时得到机器人相对于对缝的位姿,运动控制模块控制机器人自主调姿。基于双线结构光与对缝的相对位置关系,提出机器人在不同情况下的自主调姿方法,解决了机器人在运动过程中与对缝产生偏差时的自主调姿问题。通过试验表明移动机器人对缝自主跟踪的位置误差为5.81mm,角度误差为3.52°。

A Mobile Robot Autonomous Tracking Method for Aircraft Skin Seam

In order to solve the problem of automatically measuring the assembly seams on large skins surface,a mobile robot autonomous tracking method for aircraft skin seam is proposed.The mobile robot includes a seam measurement module and a motion control module.The seam measurement module obtains the posture of the robot relative to the seam while measuring the gap and flush.The motion control module controls the robot to adjust position automatically.Based on the relative position between the dual linear structured light and the seam,an autonomous robot position adjustment method in different situations is proposed,which could solve the problem of autonomous position adjustment when the robot deviated from the seam.The experimental results show that the position error of the mobile robot for the autonomous tracking of the seam is 5.81mm and the angle error is 3.52°.