Monocular vision-based large rigid body component automatic integration method

Abstract

The invention provides a monocular vision-based large rigid body component automatic integration method, which has the advantages of simple implementation, high stability, good flexibility, high precision and the like, and mainly comprises the following steps of: 1, calibrating internal parameters of a vision system; 2, calibrating external parameters of a visual system; 3, calibrating a rotationmatrix and a translation vector of a moving-end target and a fixed-end target under the coordinate system of a posture adjusting platform in an integration state; 4, solving a rotation matrix and a translation vector of the mobile terminal target from a to-be-integrated state to an integration state in a coordinate system of the posture adjusting platform in an actual integration process; 5, solving the motion angle and displacement of the moving end rigid body component under the coordinate system of the posture adjusting platform in the actual integration process; and 6, resolving a result obtained in the step 5 into specific action values of all shafts of the posture adjusting platform, and controlling the posture adjusting platform to act so as to realize integration.

Description

technical field [0001] The invention belongs to the field of industrial automation, and in particular relates to an automatic docking method for large rigid body components based on monocular vision, which can be applied to the fields of aerospace, aviation, assembly and the like. Background technique [0002] In the field of aerospace and aviation, the docking work of large rigid body components is mainly done manually. The distance deviation and angle deviation between the mobile end rigid body components and the fixed end rigid body components are estimated by naked eyes, and then the mobile end rigid body components are adjusted by the manual attitude adjustment mechanism. Adjusting the pose and gradually completing the docking work is inefficient and difficult to adjust the pose. [0003] In order to solve the problems of inefficiency and difficulty in attitude adjustment brought about by the manual method of docking large rigid body components, some companies have deve...

AI Technical Summary

Problems solved by technology

[0009] In order to overcome the problems of expensive laser measuring equipment and low safety in the laser measurement method in the background technology, and the problem that the existing stereo vision method is easily affected by the industrial environment and requires regular calibration of system parameters, which will affect the accuracy, the present invention provides a An automatic docking method for large rigid body components based on monocular vision

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