Research on Edge Detection Algorithm Based on Line Laser Scanning

摘要

With the aim of obtaining the precise position of workpiece, it is necessary to detect the base hole during the automated manufacturing process of robotic drilling systems. In this paper, a detection method based on the line laser is presented to detect the base hole of large aviation parts in manufacturing and assembly. The 3-D point cloud data processing plays an important role during the detection process with a line laser. To extract the point cloud data effectively, an edge detection algorithm which includes a gradient-based edge extraction algorithm and an edge parameterization method is proposed. Then, the correlation analysis of the proposed algorithm is conducted. Finally, an industrial case is presented to illustrate the applicability and effectiveness of the proposed edge detection algorithm. The effects of varying the scan line spacing of the line laser are studied so as to meet the practical need of engineering application. The results indicate that the edge detection algorithm is applicable to the robotic drilling system, and it is reasonable and practicable to use the elliptic curve to parameterize the hole’s edge.