Measuring method and measuring device of conduit connector space pose parameters

Abstract

The invention provides a measuring method and a measuring device of conduit connector space pose parameters. The method includes: obtaining inner parameters of a multi-view camera; reading three-dimensional models of conduit connectors to obtain contour wireframe models of the conduit connectors; respectively building a spherical coordinate system and a plurality of virtual cameras in different positions; obtaining two-dimensional images, projected on the plurality of virtual cameras in the different positions, of the contour wireframe models; through the multi-view camera, respectively carrying out image acquisition on the plurality of connectors on a conduit to obtain plane gray level images of the conduit connectors; processing the two-dimensional images and the plane gray level images to be matching templates and search images with an edge filter, and carrying out template matching based on shapes on the search images; obtaining the space pose parameters of the plurality of conduit connectors in respective camera coordinate systems; and unifying poses of the plurality of conduit connectors in the camera coordinate systems in a world coordinate system to confirm the conduit connector space pose parameters. In the process of measuring the conduit connector space pose parameters, the speed is high, and the accuracy is high.

Description

technical field [0001] The invention relates to the field of measurement technology, in particular to a method and device for measuring space pose parameters of a catheter joint. Background technique [0002] In many products and equipment in the fields of aerospace, aviation, automobiles, etc., pipeline systems such as hydraulic pressure, fuel oil, environmental control, and oxygen contain a large number of conduits. These conduits have different shapes and sizes, and the spatial configuration is relatively complex. In order to achieve accurate assembly, as one of the core components of the pipeline, there are often machining errors in the welded joints of the pipe. Therefore, it is necessary to accurately ensure the position of the center point of the end face of the joint at both ends of the pipe during the assembly process. Conduits with different bend angles, curves and straight sections need to be compared with the CAD data after welding the joint parts. Only the pipe...

AI Technical Summary

Problems solved by technology

[0017] To sum up, through the calibration of the internal and external parameters of the camera, the extraction of features on the target can calculate the spatial pose of the object, but the obtained pose results are prone to ambiguity, and because the specific characteristics of different objects vary Not the same, the operator needs to write a specific extraction algorithm according to the specific situation, the workload is heavy, and it does not have flexibility and versatility

It is far from enough to use traditional binocular vision to measure conduit joints with complex spatial shapes.

The reason is that in the process of collecting images of catheter joints, occlusion often occurs, and it is impossible to achieve a single rapid measurement of the spatial pose parameters of all joints of the catheter

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