公开(公告)号：US20230311319A1

公开(公告)日：2023-10-05

申请号：US18321840

申请日：2023-05-23

申请人： Nanjing University of Aeronautics and Astronautics

发明人： Jun WANG ,  Hangbin ZENG ,  Yuanpeng LIU ,  Zhengshui KANG ,  Jianping YANG

IPC分类号： B25J9/16 ,  G01B21/20 ,  B25J19/02

CPC分类号： B25J9/1664 ,  G01B21/20 ,  B25J19/02

摘要： A feature-guided scanning trajectory optimization method for a 3D measurement robot, including: building a 3D digital model of an aircraft surface; obtaining a size of the 3D digital model; extracting features to be measured; classifying the features to be measured; calculating a geometric parameter of each type of features to be measured; generating an initial scanning trajectory of each type of features to be measured; building a constraint model of the 3D measurement robot; optimizing the initial scanning trajectory into a local optimal scanning trajectory; and planning a global optimal scanning trajectory of each type of features to be measured on the aircraft surface by using a modified ant colony optimization algorithm.

公开(公告)号：US20230090846A1

公开(公告)日：2023-03-23

申请号：US17981594

申请日：2022-11-07

申请人： Nanjing University of Aeronautics and Astronautics

发明人： Jun WANG ,  Chunliang HUANG ,  Hongwei LI ,  Jianping YANG

IPC分类号： G06F30/15 ,  G06F30/20

摘要： A method for detecting defects of an aircraft template, including: scanning the template; establishing a local coordinate system of a template point cloud; fitting plane parameters of a target local point cloud; acquiring an average of normal vectors of all points; calculating heights of all points; calculating an angle between a normal vector of the sinking point and a normal vector of the template point cloud plane; binarizing a point cloud image of the template; obtaining a 3D digital model of the template; aligning the 3D digital model with a resulting point cloud; and determining whether an actual distance exceeds a preset distance threshold, if not, the template is qualified, otherwise, determining whether the number of points whose actual distance exceeds the preset distance threshold exceeds a preset number threshold; if not, the template is qualified; otherwise, the template is not qualified. A detection device is also provided.