Six-degree-of-freedom visual pose relative error measuring device and measuring method
A relative error and measurement device technology, applied in the direction of measurement devices, optical devices, instruments, etc., can solve problems such as difficulty in ensuring the accuracy of visual measurement, and achieve the effect of improving accuracy and reliability
Active Publication Date: 2020-08-28
DALIAN UNIV OF TECH
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However, the accuracy of visual measurement is difficult to guarantee, so a six-degree-of-freedom visual pose relative error measurement device and measurement method are proposed
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[0048] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the present invention will be further described below with reference to the accompanying drawings and in conjunction with specific embodiments, so that those skilled in the art can implement it with reference to the description. The scope of protection is not limited to this specific embodiment. Apparently, the embodiments described below are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0049] Measurement method of the present invention is as follows:
[0050] The first step is to perform camera calibration on two industrial cameras 1, and obtain the internal reference matrix k of the two industrial cameras 1 1 、k 2 and the rotation ma...
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The invention discloses a six-degree-of-freedom visual pose relative error measuring device and measuring method, and belongs to the technical field of tunnel construction segment erectors. An ArUco code is arranged on a segment to serve as a target of a camera, the ArUco code is made to be coplanar with an angular position table, and the angular position table and a rotating table are adjusted toenable a target coordinate system to be aligned with a camera coordinate system. The six-degree-of-freedom values measured by the X-direction sliding module, the Y-direction sliding module, the Z-direction sliding module, the angular position table, the rotating table and the camera are compared to obtain a visual relative measurement error. According to the method disclosed by the invention, thex-axis translation error, the y-axis translation error, the z-axis translation error, the rotation angle error around the x axis, the rotation angle error around the y axis and the rotation angle error around the z axis of the segment can be measured. Due to the fact that the method has high measurement accuracy, relative errors can be measured for the six-freedom-degree visual attitude, and theaccuracy and reliability of visual measurement are improved.
Description
technical field [0001] The invention belongs to the technical field of tunnel construction segment assembly machines, and relates to a six-degree-of-freedom visual pose relative error measuring device and a measuring method. Background technique [0002] The shield machine is a special engineering machine used for tunnel construction. The shield construction method is relatively low in cost, very safe, fast in speed, less in earthwork, and high in mechanization level. In some complex geological situations, it can only rely on the shield machine. Shield tunneling is a large-scale mechanical equipment that integrates photoelectric technology, hydraulic technology, sensors, and electronic control technology. It has little impact on the surrounding environment and is widely used in the construction of urban underground utility corridors and tunnels. When the shield machine advances one ring forward, the propulsion cylinder is retracted, and the shield machine enters the segment ...
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IPC IPC(8): G01B11/00G01B11/26
CPCG01B11/002G01B11/26
Inventor 王林涛朱凯源杨鑫李济林虎
Owner DALIAN UNIV OF TECH