automatic drilling;
deep learning;
YOLOv5;
benchmark detection;
robotics;
mobile robotic systems;
D O I:
10.3390/machines13020154
中图分类号:
TM [电工技术];
TN [电子技术、通信技术];
学科分类号:
0808 ;
0809 ;
摘要:
Benchmark feature detection is critical in mobile robot automatic drilling systems for compensating robot accuracy and assembly errors in aerospace manufacturing. System accuracy is influenced by reference feature recognition, which is often hindered by material interference and background noise. To address these issues, this paper proposes a method that uses a 2D industrial camera for image capture, applies deep learning for initial target recognition and positioning, and then determines the feature extraction location based on the initial recognition. The extracted benchmark positions are accurately fitted using an improved Huber algorithm. Experimental results demonstrate that this approach improves the benchmark feature detection recognition rate by 43.8%, center recognition accuracy by 78.26%, and overall hole processing accuracy by 54.69%.
机构:
Strata Mfg PJSC, Res & Dev, Al Ain, U Arab EmiratesKhalifa Univ Sci & Technol, Aerosp Res & Innovat Ctr, Abu Dhabi, U Arab Emirates
Swart, Dewald
Muthusamy, Rajkumar
论文数: 0引用数: 0
h-index: 0
机构:
Khalifa Univ Sci & Technol, Khalifa Univ Ctr Autonomous Robot Syst, Abu Dhabi, U Arab EmiratesKhalifa Univ Sci & Technol, Aerosp Res & Innovat Ctr, Abu Dhabi, U Arab Emirates
Muthusamy, Rajkumar
Almaskari, Fahad
论文数: 0引用数: 0
h-index: 0
机构:
Khalifa Univ, Dept Aerosp Engn, Abu Dhabi, U Arab EmiratesKhalifa Univ Sci & Technol, Aerosp Res & Innovat Ctr, Abu Dhabi, U Arab Emirates
机构:
Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R ChinaBeijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
Li, Rui
Ding, Ning
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R ChinaBeijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
Ding, Ning
Zhao, Yang
论文数: 0引用数: 0
h-index: 0
机构:
China Acad Space Technol, Beijing Inst Spacecraft Syst Engn, Beijing 100094, Peoples R ChinaBeijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
Zhao, Yang
Liu, He
论文数: 0引用数: 0
h-index: 0
机构:
China Acad Space Technol, Beijing Inst Spacecraft Syst Engn, Beijing 100094, Peoples R ChinaBeijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
机构:
Strata Mfg PJSC, Res & Dev, Al Ain, U Arab EmiratesKhalifa Univ Sci & Technol, Aerosp Res & Innovat Ctr, Abu Dhabi, U Arab Emirates
Swart, Dewald
Muthusamy, Rajkumar
论文数: 0引用数: 0
h-index: 0
机构:
Khalifa Univ Sci & Technol, Khalifa Univ Ctr Autonomous Robot Syst, Abu Dhabi, U Arab EmiratesKhalifa Univ Sci & Technol, Aerosp Res & Innovat Ctr, Abu Dhabi, U Arab Emirates
Muthusamy, Rajkumar
Almaskari, Fahad
论文数: 0引用数: 0
h-index: 0
机构:
Khalifa Univ, Dept Aerosp Engn, Abu Dhabi, U Arab EmiratesKhalifa Univ Sci & Technol, Aerosp Res & Innovat Ctr, Abu Dhabi, U Arab Emirates
机构:
Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R ChinaBeijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
Li, Rui
Ding, Ning
论文数: 0引用数: 0
h-index: 0
机构:
Beijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R ChinaBeijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
Ding, Ning
Zhao, Yang
论文数: 0引用数: 0
h-index: 0
机构:
China Acad Space Technol, Beijing Inst Spacecraft Syst Engn, Beijing 100094, Peoples R ChinaBeijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China
Zhao, Yang
Liu, He
论文数: 0引用数: 0
h-index: 0
机构:
China Acad Space Technol, Beijing Inst Spacecraft Syst Engn, Beijing 100094, Peoples R ChinaBeijing Univ Technol, Beijing Engn Res Ctr Precis Measurement Technol &, Beijing 100124, Peoples R China