Monocular and binocular pose deviation measuring method used for cabin automatic docking

A cabin and pose technology, applied in the field of single-binocular high-precision, fast pose deviation measurement, can solve the problems of low precision, difficult to apply general docking occasions, slow speed, etc., to prevent image edge distortion and save money. The effect of online measurement time and high measurement accuracy

Active Publication Date: 2016-08-31
TIANJIN UNIV
View PDF1 Cites 26 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For example, Yi Wangmin et al. used laser trackers to realize horizontal docking in large-scale cabin assembly (Journal: Computer Integrated Manufacturing System; publication date: September 2015; title: Horizontal docking technology in large-scale cabin assembly; page number: 2354 -2360), this method is relatively mature and can achieve high-precision measurement of cabin position and attitude, but this method has the following two disadvantages: 1) The laser tracker is very expensive, resulting in high docking costs, and it is difficult to apply to general docking Occasion; 2) This method needs to place a spherical target on the cabin, which is inconvenient to use
There are sever

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Monocular and binocular pose deviation measuring method used for cabin automatic docking
  • Monocular and binocular pose deviation measuring method used for cabin automatic docking
  • Monocular and binocular pose deviation measuring method used for cabin automatic docking

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] The present invention proposes a single and binocular pose deviation measurement method, through the combination of binocular stereo vision and monocular vision, and using the pose deviation calculation algorithm to realize the pose deviation measurement of the cabin head and cabin body, single The combination of eye and binocular has the advantages of fast measurement speed and high precision, which can be divided into the following aspects:

[0022] 5) Derivation of positioning pin and positioning hole pose information

[0023] When offline (docking has not yet been carried out), two high-precision arc fixtures are respectively clamped on the positioning of the cabin head

[0024] In the hole (fixture with pin) and the positioning pin of the cabin body (fixture with hole), the extension part of the fixture has a hollow hole that can print marking points on the outer surface of the cabin. Due to the size of the fixture The specifications are precisely known, so the po...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention relates to a monocular and binocular pose deviation measuring method used for cabin automatic docking, comprising: respectively setting mark points on a cabin head and a cabin body; employing a binocular measuring device to respectively detect three-dimensional coordinates of the mark points of the cabin head and the cabin body in a world coordinate system; respectively obtaining images of the mark points of the cabin head and the cabin body; and calculating pose deviation. The method has the advantages of fast measuring speed, high precision and great practicality.

Description

technical field [0001] The invention belongs to the field of high-precision measurement of pose and posture, and relates to a single-eye and binocular high-precision and fast pose deviation measurement method for automatic docking of cabin sections. Background technique [0002] With the rapid development of aerospace and military manufacturing technology, higher requirements are put forward for the assembly accuracy and speed of components in the manufacturing process. Cabin docking is very common in the fields of aerospace and military manufacturing. At present, this work is mainly done manually in our country. Due to the large size of the docking parts of the cabin, the docking work often requires the cooperation of multiple people, that is, one observer observes the alignment status of the positioning pins and positioning holes at close range and from multiple perspectives, and gives deviation instructions based on the observation results , other cabin adjustment person...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01B11/00B64F5/00
CPCG01B11/00G01B11/002
Inventor 孟庆浩佟远曾明刘胤伯
Owner TIANJIN UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap