A segment assembly method, device, equipment and medium applied to a segment assembling machine

Abstract

The present application discloses a segment assembling method, device, equipment and medium for a segment assembling machine, including: calibrating multiple cameras to obtain a camera calibration coordinate system, and jointly calibrating the multiple cameras and the segment assembling machine; setting an initial grasping position for a target segment and an initial assembling position for a segment to be assembled that is assembled with the target segment; when the segment grasping device grasps the target segment to a specified position, determining the position of the target segment in the coordinate system where the segment assembling machine is located to obtain a target motion position; guiding the assembling task of the target segment by using the target motion position and the initial grasping position, and when the target segment is transported to the initial assembling position, determining the positions of the target segment and the segment to be assembled in the coordinate system where the segment assembling machine is located to obtain a target assembling position, and assembling the target segment and the segment to be assembled according to the target assembling position and the initial assembling position. By this method, the construction efficiency and assembling quality during segment assembling can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical engineering, and particularly relates to a segment assembling method, device, equipment and medium applied to an assembling machine. Background Art

[0002] Shield construction has been widely applied to large-scale tunnel construction, and segment assembling is an important part of shield construction. At present, segment assembling mainly depends on manual operation, which not only fails to ensure the assembling efficiency of segments, but also has problems such as assembling misalignment and excessive gaps during manual segment assembling, and cannot guarantee the assembling quality of segments. At present, there is no relatively effective solution to this technical problem. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a segment assembling method, device, equipment and medium applied to an assembling machine to improve the construction efficiency and assembling quality when assembling segments. The specific scheme is as follows:

[0004] A segment assembling method applied to an assembling machine, wherein a plurality of cameras are arranged on the assembling machine, and the plurality of cameras can move synchronously with the segment grabbing device on the assembling machine; the method includes:

[0005] Calibrating the plurality of cameras to obtain a camera calibration coordinate system, and jointly calibrating the plurality of cameras and the assembling machine;

[0006] Grabbing a target segment by using the segment grabbing device, setting an initial grabbing position for the target segment, and setting an initial assembling position for the target segment and a segment to be assembled that is assembled with the target segment; wherein, unique identifiers are arranged on both the target segment and the segment to be assembled;

[0007] When the segment grabbing device grabs the target segment to a specified position, acquiring the pose of the target segment in the camera calibration coordinate system by using the plurality of cameras to obtain first identification data, and determining the position of the target segment in the coordinate system where the assembling machine is located by using the first identification data to obtain a target movement position;

[0008] Guiding the assembling task of the target segment by using the target movement position and the initial grabbing position, and when the target segment is transported to the initial assembling position, acquiring the poses of the target segment and the segment to be assembled in the camera calibration coordinate system respectively by using the plurality of cameras to obtain second identification data;

[0009] Using the second identification data, determine the positions of the target segment and the segment to be assembled in the coordinate system where the segment erector is located, obtain the target assembly position, and assemble the target segment and the segment to be assembled according to the target assembly position and the initial assembly position.

[0010] Preferably, the identifier on the target segment is arranged at the bolt hole of the target segment.

[0011] Preferably, the identifier on the target segment is specifically a two-dimensional code.

[0012] Preferably, the process of calibrating multiple cameras to obtain the camera calibration coordinate system includes:

[0013] Select one camera from multiple cameras to obtain a screened camera, and set the other cameras except the screened camera among the multiple cameras as cameras to be calibrated;

[0014] Use a calibration device to convert the camera coordinate system of a target camera into the camera coordinate system of the screened camera to obtain the camera calibration coordinate system; wherein, the target camera is any one of the cameras to be calibrated.

[0015] Preferably, the process of jointly calibrating the camera calibration coordinate system and the segment erector includes:

[0016] Jointly calibrate the camera coordinate system of the screened camera and the segment erector.

[0017] Preferably, the process of setting an initial grasping position for the target segment and setting an initial assembly position for the target segment and the segment to be assembled with the target segment includes:

[0018] When the segment grasping device grasps the target segment and moves to a first set position, use multiple cameras to obtain the pose of the target segment in the camera calibration coordinate system, obtain the third identification data, and use the third identification data to determine the pose of the target segment in the coordinate system where the segment erector is located to obtain the initial grasping position;

[0019] When the segment grasping device grasps the target segment and moves to a second set position, use multiple cameras to respectively obtain the poses of the target segment and the segment to be assembled in the camera calibration coordinate system, obtain the fourth identification data, and use the fourth identification data to determine the positions of the target segment and the segment to be assembled in the coordinate system where the segment erector is located to obtain the initial assembly position.

[0020] Correspondingly, the present invention also discloses a segment assembling device applied to an assembling machine. A plurality of cameras are arranged on the assembling machine, and the plurality of cameras can move synchronously with a segment gripping device on the assembling machine. The device includes:

[0021] A calibration module, configured to calibrate the plurality of cameras to obtain a camera calibration coordinate system, and perform joint calibration on the plurality of cameras and the assembling machine;

[0022] A position setting module, configured to use the segment gripping device to grip a target segment, set an initial gripping position for the target segment, and set an initial assembling position for the target segment and a segment to be assembled that is assembled with the target segment; wherein, unique identifiers are provided on both the target segment and the segment to be assembled;

[0023] A position determination module, configured to when the segment gripping device grips the target segment to a specified position, use the plurality of cameras to obtain the pose of the target segment in the camera calibration coordinate system to obtain first identification data, and use the first identification data to determine the position of the target segment in the coordinate system where the assembling machine is located to obtain a target movement position;

[0024] A task guiding module, configured to use the target movement position and the initial assembling position to guide the assembling task of the target segment. When the target segment is grasped and transported to the initial assembling position, use the plurality of cameras to respectively obtain the poses of the target segment and the segment to be assembled in the camera calibration coordinate system to obtain second identification data;

[0025] A segment assembling module, configured to use the second identification data to determine the positions of the target segment and the segment to be assembled in the coordinate system where the assembling machine is located to obtain target assembling positions, and perform assembly on the target segment and the segment to be assembled according to the target assembling positions and the initial assembling positions.

[0026] Correspondingly, the present invention also discloses a segment assembling device applied to an assembling machine, including:

[0027] A memory, configured to store a computer program;

[0028] A processor, configured to implement the steps of a segment assembling method applied to an assembling machine as disclosed above when executing the computer program.

[0029] Correspondingly, the present invention also discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a segment assembling method applied to an assembling machine as disclosed above are implemented.

[0030] Compared with the prior art, since the segment assembling method provided by the present invention uses multiple cameras to determine the position information of the assembled segments, the accuracy and reliability of the segment grasping device on the segment erector can be ensured when grasping the segments. At the same time, by using the identifiers on the assembled segments to complete the assembly between the segments, problems such as misalignment and excessive gaps between the assembled segments can be effectively avoided, thereby significantly improving the assembly quality of the segments. Moreover, this segment assembling method can be automatically operated by a machine, reducing unnecessary manual intervention. In this way, while significantly reducing the labor cost required for segment assembly, the assembly efficiency of the segments can also be greatly improved. Correspondingly, a segment assembling device, equipment, and medium applied to a segment erector provided by the present invention also have the above beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0032] Figure 1 It is a flowchart of a segment assembling method applied to a segment erector provided by an embodiment of the present invention;

[0033] Figure 2 It is a structural diagram of a segment erector provided by an embodiment of the present invention;

[0034] Figure 3 It is a structural diagram of a segment assembling device applied to a segment erector provided by an embodiment of the present invention;

[0035] Figure 4 It is a structural diagram of a segment assembling equipment applied to a segment erector provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0037] Please refer to Figure 1 , Figure 1The figure is a flowchart of a segment assembling method applied to an assembling machine according to an embodiment of the present invention. Multiple cameras are arranged on the assembling machine, and the multiple cameras can move synchronously with the segment grasping device on the assembling machine. The method includes:

[0038] Step S11: Calibrate the multiple cameras to obtain a camera calibration coordinate system, and perform joint calibration on the multiple cameras and the assembling machine;

[0039] Step S12: Use the segment grasping device to grasp a target segment, set an initial grasping position for the target segment, and set initial assembling positions for the target segment and a segment to be assembled that is to be assembled with the target segment; wherein, unique identifiers are provided on both the target segment and the segment to be assembled;

[0040] Step S13: When the segment grasping device grasps the target segment to a specified position, use the multiple cameras to obtain the pose of the target segment in the camera calibration coordinate system to obtain first identification data, and use the first identification data to determine the position of the target segment in the coordinate system where the assembling machine is located to obtain a target movement position;

[0041] Step S14: Use the target movement position and the initial grasping position to guide the assembling task of the target segment. When the target segment is transported to the initial assembling position, use the multiple cameras to respectively obtain the poses of the target segment and the segment to be assembled in the camera calibration coordinate system to obtain second identification data;

[0042] Step S15: Use the second identification data to determine the positions of the target segment and the segment to be assembled in the coordinate system where the assembling machine is located to obtain target assembling positions, and assemble the target segment and the segment to be assembled according to the target assembling positions and the initial assembling positions.

[0043] In this embodiment, a segment assembling method applied to an assembling machine is provided. Using this method to assemble segments can not only improve the assembling efficiency and quality of segments, but also significantly reduce the labor cost required for segment assembling.

[0044] In this segment assembling method, unique identifiers need to be pre-set on all segments to be assembled. Specifically, the identifier can be set as a two-dimensional code. In this embodiment, the identifier set on the segment can, on the one hand, contain the shape data information of the segment and serve as the identification feature of the segment, and on the other hand, can also identify the segment number through the identifier. And in practical applications, the identifier on the segment can also be adjusted according to the type and model of the segment, so as to use the identifier to identify different types of segments, which will not be specifically elaborated here.

[0045] In addition, in this segment assembling method, multiple cameras need to be pre-set on the segment erector, and the multiple cameras set on the segment erector can move synchronously with the segment gripping device on the segment erector. In this setting mode, the positional relationship between the segment and the segment erector can be displayed and fed back in real time in the multiple cameras set on the segment erector. Please refer to Figure 2 , Figure 2 which is a structural diagram of a segment erector provided by an embodiment of the present invention. In Figure 2 the shown segment erector, industrial cameras 1, 2, 3, 4, 5, and 6 are set, an identifier 7, light sources 8 and 9, and a camera support 10 are set on the segment. Among them, the camera support 10 is installed on the adjustment plate of the gripping head of the segment erector. All industrial cameras are directly connected to the industrial control computer by network cables. The light sources 8 and 9 are connected to the light source controller, and the light source controller is connected to the industrial control computer by a network cable.

[0046] After setting multiple cameras on the segment erector, calibration is performed on the multiple cameras, that is, the camera coordinate systems where the multiple cameras are located are unified into the camera coordinate system of the same camera, so as to obtain the camera calibration coordinate system. It can be understood that the camera is a spatial position guiding system for the segment. Therefore, in this embodiment, it is necessary to connect the vision system composed of multiple cameras with the control system of the segment erector. That is, it is necessary to convert the pose information of the segment in the camera calibration coordinate system into the coordinate system where the segment erector is located, so as to accurately guide the segment erector to assemble the segment. Specifically, after calibrating the multiple cameras to obtain the camera calibration coordinate system, joint calibration is performed on the vision system composed of multiple cameras and the segment erector to obtain the joint calibration result.

[0047] After completing the joint calibration, the segment gripping device on the segment erector is used to grip the target segment, and an initial gripping position is set for the target segment. When the segment gripping device grips the target segment to the specified position, multiple cameras are used to simultaneously obtain the pose of the target segment in the camera calibration coordinate system to obtain the first identification data. After obtaining the first identification data, the pose of the target segment in the camera calibration coordinate system is converted into the pose of the target segment in the coordinate system where the segment erector is located, so as to obtain the target movement position of the target segment in the coordinate system where the segment erector is located.

[0048] After determining the target movement position of the target segment in the coordinate system where the segment erector is located, the segment gripping device can use the target movement position and the initial gripping position of the target segment to guide the assembly task of the target segment.

[0049] When the target segment is transported by the segment grasping device to the initial assembly position between the target segment and the segment to be assembled, multiple cameras are used to obtain the poses of the target segment and the segment to be assembled in the camera calibration coordinate system, thereby obtaining the second identification data. After obtaining the second identification data of the target segment and the segment to be assembled in the camera calibration coordinate system, it is equivalent to obtaining the spatial positions of the target segment and the segment to be assembled in the camera calibration coordinate system. In this case, the joint calibration result can be used to convert the poses of the target segment and the segment to be assembled in the camera calibration coordinate system to the coordinate system where the segment erector is located, so as to obtain the target assembly positions of the target segment and the segment to be assembled in the coordinate system where the segment erector is located.

[0050] It can be conceived that when the target assembly positions of the target segment and the segment to be assembled in the coordinate system where the segment erector is located are obtained, it is equivalent to obtaining the assembly positions of the target segment and the segment to be assembled in the coordinate system where the segment erector is located. In this case, the target assembly positions and the initial assembly positions of the target segment and the segment to be assembled are sent to the control system of the segment erector, and the control system of the segment erector can assemble the target segment and the segment to be assembled according to the target assembly positions and the initial assembly positions of the target segment and the segment to be assembled.

[0051] Obviously, the segment assembly of the target segment and the segment to be assembled can be completed through the above steps. Repeating steps S12 to S15 can complete the grasping and automatic installation of a ring of segments. Since this segment assembly method is controlled by a machine, not only can the assembly efficiency of the segments be improved through this method, but also the investment in labor costs can be reduced.

[0052] Compared with the prior art, since the segment assembly method provided in this embodiment uses multiple cameras to determine the position information of the segments to be assembled, the accuracy and reliability of the segment grasping device on the segment erector can be guaranteed when grasping the segments. At the same time, by using the identifiers provided on the segments to be assembled to complete the assembly between the segments, problems such as misalignment and excessive gaps between the segments to be assembled can be effectively avoided, and thus the assembly quality of the segments can be significantly improved. Moreover, since this segment assembly method is operated by a machine, the labor cost required for segment assembly can be significantly reduced, and at the same time, the assembly efficiency of the segments can be greatly improved.

[0053] Based on the above embodiments, this embodiment further explains and optimizes the technical solution. As a preferred implementation manner, the identifier on the target segment is arranged at the bolt hole of the target segment.

[0054] In practical applications, the identifier of the target segment can be set at the bolt hole of the target segment. When the target segment and the segment to be assembled are assembled, in most cases, they are assembled through the bolt holes of the target segment and the segment to be assembled. Therefore, when the identifier of the target segment is set at the bolt hole of the target segment, it is more convenient for the segment erector to assemble the target segment and the segment to be assembled. Thus, the assembly efficiency of the segment erector when assembling the target segment and the segment to be assembled can be relatively improved.

[0055] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. As a preferred implementation manner, the identifier on the target segment is specifically a two-dimensional code.

[0056] It can be understood that because two-dimensional codes use coding technology, they can not only store more data information and have strong error correction capabilities, but also have low production costs. Therefore, when the identifier on the target segment is set as a two-dimensional code, the cost of setting the segment identifier can be reduced while the accuracy of recognition can be improved.

[0057] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. As a preferred implementation manner, the above step of calibrating multiple cameras to obtain the camera calibration coordinate system includes:

[0058] Select one camera from multiple cameras to obtain a selected camera, and set the other cameras except the selected camera among the multiple cameras as cameras to be calibrated;

[0059] Use a calibration device to convert the camera coordinate system of the target camera into the camera coordinate system of the selected camera to obtain the camera calibration coordinate system; where the target camera is any one of the cameras to be calibrated.

[0060] It can be imagined that because each camera installed on the segment erector has its own camera coordinate system, through camera calibration, the camera coordinate systems in different orientations can be unified into a certain fixed camera coordinate system, so as to facilitate the segment gripper on the segment erector to accurately process the image data collected by multiple cameras.

[0061] In this embodiment, in order to unify the camera coordinate systems of multiple cameras into the camera coordinate system of a certain camera, first, one camera is selected from multiple cameras to obtain a selected camera, and the other cameras except the selected camera among the multiple cameras are set as cameras to be calibrated; then, use a calibration device to convert the camera coordinate system of the target camera into the camera coordinate system of the selected camera, so as to obtain the camera calibration coordinate system.

[0062] Suppose there are 6 cameras set on the assembling machine, namely Camera 1, Camera 2, Camera 3, Camera 4, Camera 5 and Camera 6. If it is necessary to unify the camera coordinate systems of Camera 2, Camera 3, Camera 4, Camera 5 and Camera 6 to the camera coordinate system of Camera 1, at this time, the calibration device can be used to calculate the conversion relationship between Camera 1 and Camera 2 first After that, use the calibration device to calculate the conversion relationship between Camera 2 and Camera 3 The conversion relationship between Camera 3 and Camera 4 The conversion relationship between Camera 4 and Camera 5 And the conversion relationship between Camera 5 and Camera 6

[0063] Using the above conversion relationships, the camera coordinate system of Camera 3 can be converted to the camera coordinate system of Camera 1, that is, Convert the camera coordinate system of Camera 4 to the camera coordinate system of Camera 1, that is, Convert the camera coordinate system of Camera 5 to the camera coordinate system of Camera 1, that is, Similarly, the camera coordinate system of Camera 6 can also be converted to the camera coordinate system of Camera 1, that is:

[0064] As a preferred implementation manner, the above steps: the process of jointly calibrating the camera calibration coordinate system and the assembling machine includes:

[0065] Jointly calibrate the camera coordinate system of the selected camera and the assembling machine

[0066] It can be understood that in this embodiment, since the coordinate conversion relationship between the selected camera and the target camera has been established, therefore, when jointly calibrating multiple cameras and the assembling machine, only the relationship between the camera coordinate system of the selected camera and the assembling machine needs to be calibrated to obtain the joint calibration result between the multiple cameras and the assembling machine

[0067] Here, the foregoing embodiment is still used for specific illustration. Since the coordinate conversion relationship between Camera 1 and Camera 2, Camera 3, Camera 4, Camera 5 and Camera 6 has been established in the foregoing embodiment, therefore, in this embodiment, only the calibration device needs to be used to calibrate the relationship between the camera coordinate system of Camera 1 and the coordinate system of the assembling machine to complete the joint calibration between multiple cameras and the assembling machine. Here, the joint calibration result between Camera 1 and the assembling machine can be marked as Among them, the T expression of the matrix is:

[0068]

[0069]

[0070]

[0071]

[0072] θ z = atan2(r 21 , r 11 )

[0073] In the formula, dx, dy, dz, θ x , θ y , θ z are respectively the position deviation and angle deviation of the segment erector on the x, y, and z axes at the initial grasping position and the initial motion position.

[0074] Based on the above embodiments, the present embodiment further explains and optimizes the technical solution. As a preferred implementation manner, the above steps: setting the initial grasping position for the target segment and setting the initial assembly position for the target segment and the segments to be assembled for assembling with the target segment include:

[0075] When the segment grasping device grasps the target segment and moves to the first set position, multiple cameras are used to obtain the pose of the target segment in the camera calibration coordinate system, obtaining the third identification data, and using the third identification data to determine the position of the target segment in the coordinate system where the segment erector is located, obtaining the initial grasping position;

[0076] When the segment grasping device grasps the target segment and moves to the second set position, multiple cameras are respectively used to obtain the poses of the target segment and the segments to be assembled in the camera calibration coordinate system, obtaining the fourth identification data, and using the fourth identification data to determine the positions of the target segment and the segments to be assembled in the coordinate system where the segment erector is located, obtaining the initial assembly position.

[0077] In the present embodiment, in order to ensure the smooth grasping and assembly of the target segment and the segments to be assembled, in the present embodiment, the process of setting the initial grasping position of the target segment and the initial assembly positions of the target segment and the segments to be assembled is described in detail.

[0078] When the segment grasping device grasps the target segment and moves to the first set position, the multiple cameras recognize that the pose of the target segment in the camera coordinate system is Then through the joint calibration result the target segment can be transformed into the coordinate system where the segment erector is located, that is:

[0079] When the segment grasping device grasps the target segment and moves to the first set position, the multiple cameras recognize that the pose of the target segment in the camera coordinate system is Then, based on the combined calibration result the target segment can be transformed into the coordinate system where the segment erector is located, that is:

[0080] After calculating the poses of different types of segments in the coordinate system where the segment erector is located, these data can be saved into the vision system composed of multiple cameras, so as to achieve the purpose of initial calibration for different types of segments. Moreover, in order to obtain a more accurate initial grasping position of the target segment, multiple cameras can be used to identify the target segment multiple times, and these identification data can be transformed into the coordinate system where the segment erector is located.

[0081] Similarly, when setting the initial assembly positions of the target segment and the segment to be assembled, when the segment grasping device grasps the target segment and moves to the second set position, multiple cameras can be used to respectively obtain the poses of the target segment and the segment to be assembled in the camera calibration coordinate system, obtaining the fourth identification data; then, based on the combined calibration result of the multiple cameras and the segment erector, the poses of the target segment and the segment to be assembled in the camera calibration coordinate system are transformed into the coordinate system where the segment erector is located, so as to obtain the initial assembly positions of the target segment and the segment to be assembled in the coordinate system where the segment erector is located.

[0082] In this case, when the segment grasping device grasps the target segment to the specified position, the segment erector will first perform self-inspection on itself. When the self-inspection of the segment erector is successful, multiple cameras will obtain the pose of the target segment in the camera coordinate system Based on the combined calibration result, it can be transformed into the coordinate system where the segment erector is located, so as to obtain the target movement position of the target segment in the coordinate system where the segment erector is located

[0083] At this time, the target movement position and the initial grasping position are sent to the control system of the segment erector. The control system of the segment erector can, based on the target movement position and the initial grasping position adjust the pose of the segment grasping device on the segment erector, so as to guide the segment grasping device to grasp the target segment to the assembly position of the segment to be assembled and assemble the target segment and the segment to be assembled.

[0084] When the segment gripping device grips the target segment and moves it to the initial assembly position of the target segment and the segment to be assembled, multiple cameras on the segment assembling machine will simultaneously obtain the poses of the target segment and the segment to be assembled in the camera calibration coordinate system, and convert the poses of the target segment and the segment to be assembled in the camera calibration coordinate system to the coordinate system where the segment assembling machine is located through the joint calibration result, so as to obtain the position of the target segment in the coordinate system where the segment assembling machine is located. And the position of the segment to be assembled in the coordinate system where the segment assembling machine is located. At this time, the target assembly positions of the target segment and the segment to be assembled in the coordinate system where the segment assembling machine is located are sent to the control system of the segment assembling machine, and the control system of the segment assembling machine can control the movement amount of the hydraulic actuator on the segment assembling machine according to the target assembly position and the initial assembly position, so as to realize the assembly of the target segment and the segment to be assembled.

[0085] Obviously, through the technical solution provided by this embodiment, the accuracy and reliability of the target segment and the segment to be assembled during the assembly process can be guaranteed.

[0086] Please refer to Figure 3 , Figure 3 , which is a structural diagram of a segment assembling device applied to a segment assembling machine provided by an embodiment of the present invention. Multiple cameras are arranged on the segment assembling machine, and the multiple cameras can move synchronously with the segment gripping device on the segment assembling machine; the device includes:

[0087] A calibration module 21, configured to calibrate multiple cameras to obtain a camera calibration coordinate system, and perform joint calibration on the multiple cameras and the segment assembling machine;

[0088] A position setting module 22, configured to use the segment gripping device to grip the target segment, set an initial gripping position for the target segment, and set an initial assembly position for the target segment and the segment to be assembled that is assembled with the target segment; wherein, unique identifiers are set on both the target segment and the segment to be assembled.

[0089] A position determination module 23, configured to, when the segment gripping device grips the target segment to a specified position, obtain the pose of the target segment in the camera calibration coordinate system by using multiple cameras to obtain first identification data, and determine the position of the target segment in the coordinate system where the segment assembling machine is located by using the first identification data to obtain a target movement position.

[0090] A task guiding module 24, configured to guide the assembly task of the target segment by using the target movement position and the initial gripping position. When the target segment is grabbed and transported to the initial assembly position, the poses of the target segment and the segment to be assembled in the camera calibration coordinate system are respectively obtained by using multiple cameras to obtain second identification data.

[0091] The segment assembling module 25 is used to determine the positions of the target segment and the segment to be assembled in the coordinate system where the segment erector is located by using the second identification data, obtain the target assembling position, and assemble the target segment and the segment to be assembled according to the target assembling position and the initial assembling position.

[0092] The segment assembling device for a segment erector provided by an embodiment of the present invention has the beneficial effects of the segment assembling method for a segment erector disclosed above.

[0093] Please refer to Figure 4 , Figure 4 which is a structural diagram of a segment assembling device for a segment erector provided by an embodiment of the present invention. The device includes:

[0094] A memory 31 for storing a computer program;

[0095] A processor 32 for implementing the steps of the segment assembling method for a segment erector disclosed above when executing the computer program.

[0096] The segment assembling device for a segment erector provided by an embodiment of the present invention has the beneficial effects of the segment assembling method for a segment erector disclosed above.

[0097] Correspondingly, an embodiment of the present invention further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the segment assembling method for a segment erector disclosed above are implemented.

[0098] The computer-readable storage medium provided by an embodiment of the present invention has the beneficial effects of the segment assembling method for a segment erector disclosed above.

[0099] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0100] Finally, it should also be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0101] The above has introduced in detail a segment assembling method, device, equipment and medium applied to an assembling machine provided by the present invention. Specific examples are used in this text to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A segment assembling method applied to an assembling machine, characterized in that, A plurality of cameras are arranged on the segment assembling machine, and the plurality of cameras can move synchronously with the segment gripping device on the segment assembling machine; including: Calibrate the plurality of cameras to obtain a camera calibration coordinate system, and perform joint calibration on the plurality of cameras and the segment assembling machine to obtain a joint calibration result; Use the segment gripping device to grip a target segment, set an initial gripping position for the target segment, and set an initial assembling position for the target segment and a segment to be assembled that is assembled with the target segment; wherein, unique identifiers are provided on both the target segment and the segment to be assembled to complete the assembly of the target segment and the segment to be assembled by using the unique identifiers provided on the target segment and the segment to be assembled; The process of setting the initial gripping position for the target segment and setting the initial assembling position for the target segment and the segment to be assembled that is assembled with the target segment includes: When the segment gripping device grips the target segment and moves to a first set position, use the plurality of cameras to obtain the pose of the target segment in the camera calibration coordinate system to obtain third identification data, and use the third identification data to determine the pose of the target segment in the coordinate system where the segment assembling machine is located to obtain the initial gripping position; When the segment gripping device grips the target segment and moves to a second set position, use the plurality of cameras to respectively obtain the poses of the target segment and the segment to be assembled in the camera calibration coordinate system to obtain fourth identification data, and use the fourth identification data to determine the positions of the target segment and the segment to be assembled in the coordinate system where the segment assembling machine is located to obtain the initial assembling position; When the segment gripping device grips the target segment to a specified position, use the plurality of cameras to obtain the pose of the target segment in the camera calibration coordinate system to obtain first identification data, and use the first identification data to determine the position of the target segment in the coordinate system where the segment assembling machine is located to obtain the target movement position; Use the target movement position and the initial gripping position to guide the assembly task of the target segment. When the target segment is grabbed and transported to the initial assembling position, use the plurality of cameras to respectively obtain the poses of the target segment and the segment to be assembled in the camera calibration coordinate system to obtain second identification data; Use the second identification data and the joint calibration result to determine the positions of the target segment and the segment to be assembled in the coordinate system where the segment assembling machine is located to obtain the target assembling position, and assemble the target segment and the segment to be assembled according to the target assembling position and the initial assembling position; The identifier on the target segment is arranged at the bolt hole of the target segment; The identifier on the target segment is specifically a two-dimensional code; The process of calibrating the plurality of cameras to obtain a camera calibration coordinate system includes: Select one camera from the plurality of cameras to obtain a selected camera, and set the other cameras except the selected camera among the plurality of cameras as cameras to be calibrated; Convert the camera coordinate system of the target camera to the camera coordinate system of the screening camera by using a calibration device to obtain the camera calibration coordinate system; wherein, the target camera is any one of the cameras to be calibrated. The process of jointly calibrating the camera calibration coordinate system and the assembling machine includes: Jointly calibrate the camera coordinate system of the screening camera and the assembling machine.

2. A segment assembling device applied to an assembling machine, characterized in that, A plurality of cameras are arranged on the assembling machine, and the plurality of cameras can move synchronously with the segment grasping device on the assembling machine; it includes: A calibration module for calibrating a plurality of cameras to obtain a camera calibration coordinate system, and jointly calibrating the plurality of cameras and the assembling machine to obtain a joint calibration result; A position setting module for using the segment grasping device to grasp a target segment, setting an initial grasping position for the target segment, and setting an initial assembling position for the target segment and a segment to be assembled that is assembled with the target segment; wherein, unique identifiers are set on both the target segment and the segment to be assembled to complete the assembly of the target segment and the segment to be assembled by using the unique identifiers set on the target segment and the segment to be assembled. The process of setting the initial grasping position for the target segment and setting the initial assembling position for the target segment and the segment to be assembled that is assembled with the target segment includes: When the segment grasping device grasps the target segment and moves to a first set position, use a plurality of cameras to obtain the pose of the target segment in the camera calibration coordinate system to obtain third identification data, and use the third identification data to determine the pose of the target segment in the coordinate system where the assembling machine is located to obtain the initial grasping position; When the segment grasping device grasps the target segment and moves to a second set position, use a plurality of cameras to respectively obtain the poses of the target segment and the segment to be assembled in the camera calibration coordinate system to obtain fourth identification data, and use the fourth identification data to determine the positions of the target segment and the segment to be assembled in the coordinate system where the assembling machine is located to obtain the initial assembling position; A position determination module for, when the segment grasping device grasps the target segment to a specified position, using a plurality of cameras to obtain the pose of the target segment in the camera calibration coordinate system to obtain first identification data, and using the first identification data to determine the position of the target segment in the coordinate system where the assembling machine is located to obtain the target movement position; A task guiding module for guiding the assembly task of the target segment by using the target movement position and the initial grasping position. When the target segment is grasped and transported to the initial assembling position, use a plurality of cameras to respectively obtain the poses of the target segment and the segment to be assembled in the camera calibration coordinate system to obtain second identification data; A segment assembly module is used to determine the positions of the target segment and the segment to be assembled in the coordinate system where the segment erector is located by using the second identification data and the combined calibration result, obtain the target assembly position, and assemble the target segment and the segment to be assembled according to the target assembly position and the initial assembly position; The identifier on the target segment is arranged at the bolt hole of the target segment; The identifier on the target segment is specifically a two-dimensional code; The process of calibrating multiple cameras to obtain the camera calibration coordinate system includes: Select one camera from multiple cameras to obtain a selected camera, and set the other cameras except the selected camera among the multiple cameras as cameras to be calibrated; Use a calibration device to convert the camera coordinate system of the target camera into the camera coordinate system of the selected camera to obtain the camera calibration coordinate system; wherein, the target camera is any one of the cameras to be calibrated; The process of jointly calibrating the camera calibration coordinate system and the segment erector includes: Jointly calibrate the camera coordinate system of the selected camera and the segment erector.

3. A segment assembling equipment applied to an assembling machine, characterized in that, It includes: A memory for storing a computer program; A processor for implementing the steps of a segment assembly method applied to a segment erector as described in claim 1 when executing the computer program.

4. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of a segment assembly method applied to a segment erector as described in claim 1 are implemented.

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