Robot drilling and riveting normal alignment method and device based on laser scanning

The invention provides a robot drilling and riveting normal alignment method and device based on laser scanning. A laser distance sensor S1 and a laser distance sensor S2 are used for scanning and measuring the surface of skin in a mechanical rotation mode, two groups of crisscross measuring point data are acquired, 10 measuring point data closest to an intersection point are selected from the two groups of measuring point data, a tangent vector of scanning at a drilling and riveting point position is approximately calculated, and calculation is carried out according to the cross product of tangent vectors of two scanning curves to obtain a machining normal angle deviation delta on the surface of the skin. By means of the operation, rapid, efficient and accurate robot drilling and riveting normal alignment is achieved. 本发明提出了一种基于激光扫描的机器人钻铆法向找正方法及装置，通过机械旋转的方式使用激光距离传感器S1和激光距离传感器S2对蒙皮表面进行扫描测量，得到两组十字交叉的测量点数据，然后分别选出两组测量点数据中离交叉点最近的10个测量点数据近似计算扫描先在钻铆点位处的切矢量，并根据两条扫描曲线的切矢量的叉积计算得到在蒙皮表面的加工法向角度偏差δ。本发明通过上述操作实现了快速高效精准的机器人钻