A pose detection method for high-precision automatic docking between components
A detection method and automatic docking technology, which can be used in navigation and calculation tools, etc., can solve the problems of slow docking between components and complicated operations, and achieve the effects of improving measurement accuracy, reducing operation difficulty, and reducing detection costs.
Active Publication Date: 2021-04-13
中国人民解放军火箭军工程设计研究院
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[0006] The purpose of the present invention is to propose a pose detection method for high-precision automatic docking between components to solve the problems of slow docking speed and complicated operation in the prior art
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[0072] In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, components and circuits have not been described in detail so as not to obscure the present invention.
[0073] see in conjunction Figure 1 to Figure 9 As shown, according to the embodiment of the present invention, the pose detection method for high-precision automatic docking between parts includes: obtaining the coordinates of the first marker to be measured 3 on the surface of the first docking part 1; The coordinates of the second marker to be measured 4 of the first docking part 1; obtain the coordinates of the first reference marker of the first pose deriving part 5 corresponding to the pose of the bolt of the first docking part 1 ...
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The invention discloses a pose detection method for high-precision automatic docking between components. The pose detection method for high-precision automatic docking between components includes: acquiring the coordinates of the first marker to be measured on the surface of the first docking component; acquiring the coordinates of the second marker to be measured on the surface of the second docking component; acquiring the coordinates of the second marker to be measured on the surface of the second docking component The coordinates of the first reference marker of the first pose of the bolt corresponding to the pose of the screw hole of the docking part are obtained; The coordinates of the second reference marker; determine the pose of the first reference marker relative to the first marker to be measured; determine the pose of the second reference marker relative to the second marker to be measured; determine the first docking component and The pose difference of the second docking part. According to the pose detection method of high-precision automatic docking between components of the present invention, the problems of slow docking speed and complicated operation in the prior art can be solved.
Description
technical field [0001] The invention relates to the technical field of high-precision detection of position and posture of most cabin sections, in particular to a method for detecting the position and posture of high-precision automatic docking between components. Background technique [0002] In the fields of aerospace and shipbuilding, equipment such as aircraft, rockets, and submarines have large dimensions, many components and cabins, and thin and easy-to-deform structures. Carry out overall coordination docking. Butt jointing of separated cabins into a whole, the docking of these large parts and cabins is an important link, and it is a complex project with great technical difficulty and many fields involved. [0003] In the past, it was mostly done by manual operation, that is, first place each component on the bracket or trailer platform, and then rely on several workers to push one component slowly close to the other according to the bolts and screw holes at differen...
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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 费允锋宋银灏常猛刘渊李国文高鑫
Owner 中国人民解放军火箭军工程设计研究院