Six-dimensional relative pose measurement device and method for large component hoisting and transfer

Abstract

The present application relates to the technical field of photoelectric measurement, and more particularly to a six-dimensional relative pose measurement device and method for hoisting and transferring of large components, wherein the method comprises the following steps: S1, setting up a six-dimensional relative pose measurement device for hoisting and transferring of large components; S2, forming two light spots on the window glass of the first cooperative target and the second cooperative target; S3, obtaining the coordinates of the first image point and the second image point by the first optical measurement module, and obtaining the coordinates of the third image point and the fourth image point by the second optical measurement module; S4, calculating and outputting the pose data of the lifting tool relative to the transport vehicle according to the pitch angle and the roll angle of the lifting tool relative to the transport vehicle output by the inclinometer, and combining the coordinates of the first, second, third and fourth image points; S5, adjusting the lifting tool according to the pose data by the crane control system, and completing the hoisting and transferring of the large component. The present application can automatically plan the motion path of the lifting arm and the lifting tool, and realize the automatic hoisting and transferring of the large component.

Description

Technical Field

[0001] This invention relates to the field of photoelectric measurement technology, and in particular to a six-dimensional relative pose measurement device and method for hoisting and transferring large components. Background Technology

[0002] Currently, the hoisting and transfer of large components requires at least one crane operator and 2-3 ground observers to work together. The observers need to repeatedly observe the relative position of the large component and the transport vehicle, and issue hoisting instructions to the crane operator. Under the guidance of the ground observers, the crane operator first controls the boom to transfer the lifting equipment and the large component assembly to the top of the transport vehicle. Then, the operator slowly aligns the positioning pin at the bottom of the large component with the corresponding limiting mechanism on the transport vehicle in the horizontal direction. Finally, the operator controls the lifting equipment to release the height of the large component so that the positioning pin at the bottom of the large component is embedded in the corresponding limiting mechanism on the transport vehicle, completing the hoisting and transfer. However, this method has low hoisting efficiency.

[0003] In his doctoral dissertation, "Research on Key Technologies of Automatic Alignment System Based on Visual Feedback," Li Qinwen of the Changchun Institute of Optics, Fine Mechanics and Physics, Chinese Academy of Sciences, proposed a relative position measurement scheme for automatic alignment systems. This scheme consists of two cameras, two laser rangefinders, one inclinometer, and two laser targets. The laser rangefinders measure the distance in the Z-direction (height) between the lifting device and the transport vehicle; the inclinometer measures the pitch angle β and roll angle γ of the lifting device; and the cameras measure the lateral offset distance X, longitudinal offset distance Y, and relative azimuth angle α between the lifting device and the transport vehicle. However, this scheme has certain technical limitations in terms of applicability and measurement accuracy. First, the laser rangefinders require a good reference plane within the corresponding measurement range on the surface of the transport vehicle. The size of this plane determines the measurement range of the entire system. The complex structure of the transport vehicle makes it difficult to provide an ideal reference plane, thus limiting the practicality of the scheme due to the application environment. Second, the measurement accuracy of the laser rangefinders is significantly affected by the environment. Since large transport vehicles operate outdoors year-round, temperature changes and light interference can affect the accuracy of the measurement data. Summary of the Invention

[0004] This invention addresses the problems of low hoisting efficiency in existing methods for hoisting and transferring large components using manual assistance, and technical deficiencies in the applicability and accuracy of relative position measurement schemes applied to automatic alignment systems. It provides a six-dimensional relative pose measurement device and method for hoisting and transferring large components. By calculating the six-dimensional pose relationship between the large component and the transport vehicle, the device automatically plans the movement path of the boom and lifting equipment, controls the movement of each joint of the boom, and achieves automatic hoisting and transferring of large components.

[0005] The six-dimensional relative pose measurement device for hoisting and transferring large components proposed in this invention includes: a first optical measurement module, a second optical measurement module, and a processing module arranged on the same straight line; and a first cooperative target and a second cooperative target arranged on the same straight line.

[0006] The first and second cooperative targets are symmetrically arranged on the upper surface of the transport vehicle body along the axis of symmetry. Both the first and second cooperative targets are used to form two light spots.

[0007] The first optical measurement module and the second optical measurement module are mounted on the hoisting device with corresponding brackets relative to the installation positions of the first cooperative target and the second cooperative target. The first optical measurement module is used to image the two light spots formed by the first cooperative target and output the coordinates of the first image point and the second image point generated by the two light spots through the first optical measurement module. The second optical measurement module is used to image the two light spots formed by the second cooperative target and output the coordinates of the third image point and the fourth image point generated by the two light spots through the second optical measurement module.

[0008] The first and second optical measurement modules are both connected to the processing module. The processing module is installed on the central axis of the spreader, and the distance between the processing module and the first and second optical measurement modules is equal. The processing module is used to measure the pitch and roll angles of the spreader relative to the horizontal plane, and calculates and outputs pose data based on the data measured by the processing module, the first optical measurement module, and the second optical measurement module.

[0009] Preferably, both the first cooperative target and the second cooperative target include a power connector, a switch, a drive circuit, and two lasers. The power connector is used to connect to an external power source, the switch is used to control the opening and closing of the first cooperative target or the second cooperative target, and the drive circuit is used to simultaneously drive the two lasers to emit light. The two lasers are used to illuminate the emitted light onto the two window glass surfaces of the first cooperative target or the second cooperative target, forming two light spots.

[0010] Preferably, both the first optical measurement module and the second optical measurement module include a lens, a photosensitive element, and an image processing circuit. The lens is used to acquire two light spots formed by the first cooperative target or the second cooperative target. The photosensitive element is used to image the two light spots of the first cooperative target or the second cooperative target acquired by the lens. The image processing circuit is used to calculate the coordinates of the image points formed by the photosensitive element of the first optical measurement module or the second optical measurement module.

[0011] Preferably, the processing module includes an inclinometer, a digital signal processor, and a communication interface. The inclinometer is used to measure the horizontal attitude of the spreader and output the pitch and roll angles of the spreader relative to the horizontal plane. The digital signal processor is used to calculate the position and orientation data of the spreader relative to the transport vehicle by processing the data measured by the inclinometer, the first optical measurement module, and the second optical measurement module. The communication interface is used to output the position and orientation data to the crane control system, so that the spreader can be controlled by the crane control system.

[0012] Preferably, the two lasers can be replaced with two LED lights.

[0013] The six-dimensional relative pose measurement method for hoisting and transferring large components proposed in this invention is implemented using a six-dimensional relative pose measurement device for hoisting and transferring large components, and specifically includes the following steps:

[0014] S1: Construct a six-dimensional relative pose measurement device for hoisting and transferring large components.

[0015] S2: The first and second cooperative targets drive their own two lasers to emit light through their own driving circuits, so that two light spots are formed on the two window glass of the first and second cooperative targets.

[0016] S3: The first optical measurement module obtains the coordinates of the first image point and the second image point by processing the two light spots formed by the first cooperative target. The second optical measurement module obtains the coordinates of the third image point and the fourth image point by processing the two light spots formed by the second cooperative target.

[0017] S4: The processing module calculates and outputs the pose data of the spreader relative to the transport vehicle based on the pitch and roll angles of the spreader relative to the horizontal plane output by the inclinometer, and in combination with the coordinates of the first image point, the second image point, the third image point, and the fourth image point.

[0018] S5: The crane control system adjusts the lifting gear according to the position data to complete the lifting and transfer of large components.

[0019] Preferably, step S4 specifically includes the following steps:

[0020] S41: Establish a target space rectangular coordinate system O-XYZ with the center point of the upper surface of the carriage where the first and second cooperative targets are located as the origin, where the positive direction of the Y-axis is the direction of the vehicle's front, and the first light spot B... 11 The coordinates are (X B11 Y B11 Z B11 ), second light spot B 12 The coordinates are (X B12 Y B12 Z B12), third spot B 21 The coordinates are (X B21 Y B21 Z B21 ), fourth spot B 22 The coordinates are (X B22 Y B22 Z B22 ).

[0021] S42: Establish a rectangular coordinate system O for the lifting device, with the center of the lifting device as the origin. D -X D Y D Z D The coordinates of the first optical measurement module A1 are (X... A1 Y A1 The coordinates of the second optical measurement module A2 are (X, 0), and (X, 0). A2 Y A2 ,0).

[0022] S43: Establish a first spatial rectangular coordinate system O, using the optical node of the lens of the first optical measurement module as the origin. J1 -X J1 Y J1 Z J1 Using the center of the photosensitive element of the first optical measurement module as the origin, a first image plane spatial rectangular coordinate system O-x1y1z1 is established, and the first image point a... 11 The coordinates are (x a11 y a11 , z a11 ), the second image point a 12 The coordinates are (x a12 y a12 , z a12 Using the optical node of the lens of the second optical measurement module as the origin, a second spatial rectangular coordinate system O is established. J2 -X J2 Y J2 Z J2 Using the center of the photosensitive element of the second optical measurement module as the origin, a second image plane spatial rectangular coordinate system O-x2y2z2 is established, and the third image point a... 21 The coordinates are (x a21 y a21 , z a21 ), the fourth image point a 22 The coordinates are (x a22 y a22 , z a22 ).

[0023] S44: Based on the pitch and roll angles output by the inclinometer, and combined with the coordinates of the first, second, third, and fourth light spots, calculate the rotation azimuth angle α of the lifting device's spatial rectangular coordinate system relative to the target's spatial rectangular coordinate system.

[0024]

[0025] in,

[0026] k 18 =(X B11 -X B22 )·k 13 ·cosγ+(X B11 -X B22 )·(k 11 -1)·sinγ+(Y B11 -Y B22 )·k 13 ·sinβ·sinγ+(Y B11 -Y B22 )·k 15 ·cosβ-(Y B11 -Y B22 )·(k 11 -1)·sinβ·cosγ,

[0027] k 19 =(k 14 ·k 15 -k 13 ·k 16 )·cosβ·cosγ+(k 12 ·k 13 -k 14 ·(k 11 -1))·sinβ+(k 12 ·k 15 -k 16 ·(k1-1))·cosβ·sinγ,

[0028] m 13 = -cosβ·sinγ,m 23 =sinβ,m 33 =cosβ·cosγ, where β is the pitch angle, γ is the roll angle, and f is the focal length of the lens in the first optical measurement module and the second optical measurement module.

[0029] S45: Based on the calculation results of step S44, calculate the translation ΔX of the lifting device's spatial rectangular coordinate system relative to the target's spatial rectangular coordinate system along the X-axis, the translation ΔY along the Y-axis, and the translation ΔZ along the Z-axis using the following formulas:

[0030]

[0031]

[0032]

[0033] Where, m 11 =cosα·cosγ-sinα·sinβ·sinγ, m 12 =sinα·cosγ+cosα·sinβ·sinγ, m 21 = -sinα·cosβ,m 22 =cosα·cosβ,m 31 =cosα·sinγ+sinα·sinβ·cosγ, m 32 =sinα·sinγ-cosα·sinβ·cosγ, Z′ A11 Let Z′ be the Z-coordinate of the first image point in the target space rectangular coordinate system. A12 Let Z′ be the Z-coordinate of the second image point in the target space rectangular coordinate system. A21 Let Z′ be the Z-coordinate of the third image point in the target space rectangular coordinate system. A22 Let Z be the Z coordinate of the fourth image point in the target space rectangular coordinate system.

[0034] S46: Output the pose data of the spreader relative to the transport vehicle based on the calculation results of steps S44-S45.

[0035] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0036] (1) The six-dimensional relative pose measurement device for hoisting and transferring large components proposed in this invention adopts a fully automatic measurement method. The measurement accuracy of the six-dimensional relative pose measurement for hoisting and transferring large components can reach the millimeter level, providing technical support for the automatic hoisting and transferring of large components. It can greatly improve the hoisting efficiency and safety of cranes, save labor costs, and has high practical value.

[0037] (2) The first and second cooperative targets in this invention use lasers with good monochromaticity and concentrated energy to illuminate the window glass of the first and second cooperative targets. After the light spots formed by the first and second cooperative targets are matched with the imaging bands of the first and second optical measurement modules, the six-dimensional relative pose measurement device for hoisting and transferring large components proposed in this invention can work in low-light environments and resist strong light interference, so as to achieve normal operation in all weather conditions and harsh weather environments.

[0038] (3) The six-dimensional relative pose measurement device for hoisting and transferring large components proposed in this invention can work automatically upon power-up, and can measure the pose of large components in real time without human operation, making it easy to popularize. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of a six-dimensional relative pose measurement device for hoisting and transferring large components according to an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of the logic structure of a six-dimensional relative pose measurement device for hoisting and transferring large components according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of the structure of the first cooperative target and the second cooperative target provided in an embodiment of the present invention;

[0042] Figure 4 This is a coordinate diagram of the spreader relative to the transport vehicle according to an embodiment of the present invention;

[0043] Figure 5 This is a flowchart illustrating a six-dimensional relative pose measurement method for hoisting and transferring large components, provided by an embodiment of the present invention.

[0044] Reference numerals: 1. Transport vehicle; 2. Lifting device; 3. First cooperative target; 3. Window glass; 3-1. Switch; 3-2. Power controller; 3-3. Second cooperative target; 4. First optical measurement module; 5. Second optical measurement module; 6. Processing module; 7. Inclinometer; 7-1. Digital signal processor; 7-2. Communication interface; 7-3. Detailed Implementation

[0045] In the following description, embodiments of the invention will be described with reference to the accompanying drawings. In the description below, the same modules are denoted by the same reference numerals. Where the same reference numerals are used, their names and functions are also the same. Therefore, their detailed description will not be repeated.

[0046] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0047] Figure 1 The structure of a six-dimensional relative pose measurement device for hoisting and transferring large components, provided according to an embodiment of the present invention, is shown. Figure 2 The logical structure of a six-dimensional relative pose measurement device for hoisting and transferring large components, provided according to an embodiment of the present invention, is illustrated.

[0048] like Figures 1-2 As shown, the six-dimensional relative pose measurement device for hoisting and transferring large components proposed in this invention includes: a first optical measurement module 5, a second optical measurement module 6, and a processing module 7 arranged on the same straight line; and a first cooperative target 3 and a second cooperative target 4 arranged on the same straight line.

[0049] The first cooperative target 3 and the second cooperative target 4 are symmetrically arranged on the upper surface of the carriage body of the transport vehicle 1 along the axis of symmetry. Both the first cooperative target 3 and the second cooperative target 4 are used to form two light spots.

[0050] The first optical measurement module 5 and the second optical measurement module 6 are mounted on the hoisting device 2 with corresponding brackets relative to the installation positions of the first cooperative target 3 and the second cooperative target 4. The first optical measurement module 5 is used to image the two light spots formed by the first cooperative target 3 and output the coordinates of the first image point and the second image point generated by the two light spots through the first optical measurement module 5. The second optical measurement module 6 is used to image the two light spots formed by the second cooperative target 4 and output the coordinates of the third image point and the fourth image point generated by the two light spots through the second optical measurement module 6.

[0051] The first optical measurement module 5 and the second optical measurement module 6 are both connected to the processing module 7. The processing module 7 is installed on the central axis of the lifting device 2, and the distance between the processing module 7 and the first optical measurement module 5 and the second optical measurement module 6 is equal. The processing module 7 is used to measure the pitch angle and roll angle of the lifting device 2 relative to the horizontal plane, and calculates and outputs the pose data based on the measured data of the processing module 7, the first optical measurement module 5 and the second optical measurement module 6.

[0052] Figure 3 The structures of a first cooperative target and a second cooperative target provided according to an embodiment of the present invention are shown.

[0053] Both the first cooperative target 3 and the second cooperative target 4 include a switch 3-2, a power connector 3-3, a drive circuit, and two lasers. The first cooperative target 3 and the second cooperative target 4 have the same structure. Taking the first cooperative target 3 as an example: the switch 3-2 is used to control the opening and closing of the first cooperative target 3, the power connector 3-3 is used to connect an external power supply, and the drive circuit drives the two lasers to emit light at the same time. The light emitted by the two lasers illuminates the two window glass 3-1 of the first cooperative target 3, forming two uniform and bright light spots.

[0054] The first cooperative target 3 and the second cooperative target 4 of the present invention are not limited to using lasers as light sources. In certain working environments where strong light interference is not required, LED lights can be used as light sources, that is, two lasers can be replaced by two LED lights.

[0055] Both the first optical measurement module 5 and the second optical measurement module 6 include a lens, a photosensitive element, and an image processing circuit. The lens is used to acquire two light spots formed by the first cooperative target 3 or the second cooperative target 4. The photosensitive element is used to image the two light spots acquired by the lens of the first cooperative target 3 or the second cooperative target 4. The image processing circuit is used to calculate the coordinates of the image point formed by the photosensitive element of the first optical measurement module 5 or the second optical measurement module 6.

[0056] The processing module 7 includes an inclinometer 7-1, a digital signal processor 7-2, and a communication interface 7-3. The inclinometer 7-1 is used to measure the horizontal attitude of the spreader 2 and output the pitch angle and roll angle of the spreader 2 relative to the horizontal plane. The digital signal processor 7-2 is used to calculate the position and orientation data of the spreader 2 relative to the transport vehicle 1 by calculating the data measured by the inclinometer 7-1, the first optical measurement module 5, and the second optical measurement module 6. The communication interface 7-3 is used to output the position and orientation data to the crane control system, so that the spreader 2 can be controlled by the crane control system.

[0057] Figure 4 The coordinates of the spreader relative to the transport vehicle provided according to an embodiment of the present invention are shown. Figure 5 The flowchart of a six-dimensional relative pose measurement method for hoisting and transferring large components, provided by an embodiment of the present invention, is shown.

[0058] like Figures 4-5 As shown, the six-dimensional relative pose measurement method for hoisting and transferring large components proposed in this invention is implemented using a six-dimensional relative pose measurement device for hoisting and transferring large components, and specifically includes the following steps:

[0059] S1: Construct a six-dimensional relative pose measurement device for hoisting and transferring large components.

[0060] S2: The first cooperative target 3 and the second cooperative target 4 drive their own two lasers to emit light through their own driving circuits, so that two light spots are formed on the two window glass of the first cooperative target 3 and the second cooperative target 4.

[0061] S3: The first optical measurement module 5 obtains the coordinates of the first image point and the second image point by processing the two light spots formed by the first cooperative target 3, and the second optical measurement module 6 obtains the coordinates of the third image point and the fourth image point by processing the two light spots formed by the second cooperative target 4.

[0062] S4: The processing module 7 calculates and outputs the pose data of the spreader 2 relative to the transport vehicle 1 based on the pitch angle and roll angle of the spreader 2 relative to the horizontal plane output by the inclinometer 7-1, and in combination with the coordinates of the first image point, the second image point, the third image point and the fourth image point.

[0063] The pose data of the spreader 2 relative to the transport vehicle 1 includes the pitch and roll angles output by the inclinometer 7-1, the rotation azimuth angle α of the spreader spatial rectangular coordinate system relative to the target spatial rectangular coordinate system, the translation ΔX of the spreader spatial rectangular coordinate system relative to the target spatial rectangular coordinate system along the X-axis, the translation ΔY along the Y-axis, and the translation ΔZ along the Z-axis.

[0064] Step S4 specifically includes the following steps:

[0065] S41: Establish a target space rectangular coordinate system O-XYZ with the center point of the upper surface of the carriage where the first cooperative target 3 and the second cooperative target 4 are located as the origin, where the positive direction of the Y-axis is the direction of the front of the transport vehicle 1, and the first light spot B... 11 The coordinates are (X B11 Y B11 Z B11 ), second light spot B 12 The coordinates are (X B12 Y B12 Z B12 ), third spot B 21 The coordinates are (X B21 Y B21 Z B21 ), fourth spot B 22 The coordinates are (X B22 Y B22 Z B22 ).

[0066] S42: Establish a rectangular coordinate system O for the lifting device space, with the center of lifting device 2 as the origin. D -X D Y D Z D The coordinates of the first optical measurement module 5 are (X... A1 Y A1 The coordinates of the second optical measurement module 6 are (X, 0), and (X, 0). A2 Y A2 ,0).

[0067] S43: Establish a first spatial rectangular coordinate system O by taking the optical node of the lens of the first optical measurement module 5 as the origin. J1 -X J1 Y J1 Z J1 Using the center of the photosensitive element of the first optical measurement module 5 as the origin, a first image plane spatial rectangular coordinate system O-x1y1z1 is established, and the first image point a 11 The coordinates are (x a11 y a11 , z a12 ), the second image point a 12 The coordinates are (xa12 y a12 , z a12 Using the optical node of the lens of the second optical measurement module 6 as the origin, a second spatial rectangular coordinate system O is established. J2 -X J2 Y J2 Z J2 Using the center of the photosensitive element of the second optical measurement module 6 as the origin, a second image plane spatial rectangular coordinate system O-x2y2z2 is established, and the third image point a 21 The coordinates are (x a21 y a21 , z a21 ), the fourth image point a 22 The coordinates are (x a22 y a22 , z a22 ).

[0068] S44: Based on the pitch and roll angles output by the inclinometer 7-1, and combined with the coordinates of the first, second, third, and fourth light spots, calculate the rotation azimuth angle α of the lifting device's spatial rectangular coordinate system relative to the target's spatial rectangular coordinate system.

[0069]

[0070] in,

[0071] k 18 =(X B11 -X B22 )·k 13 ·cosγ+(X B11 -X B22 )·(k 11 -1)·sinγ+(Y B11 -Y B22 )·k 13 ·sinβ·sinγ+(Y B11 -Y B22 )·k 15 ·cosβ-(Y B11 -Y B22 )·(k 11 -1)·sinβ·cosγ,

[0072] k 19 =(k 14 ·k 15 -k 13 ·k 16 )·cosβ·cosγ+(k 12 ·k 13 -k 14 ·(k 11-1))·sinβ+(k 12 ·k 15 -k 16 ·(k1-1))·cosβ·sinγ,

[0073] m 13 = -cosβ·sinγ,m 23 =sinβ,m 33 =cosβ·cosγ, where β is the pitch angle, γ is the roll angle, and f is the focal length of the lens in the first optical measurement module 5 and the second optical measurement module 6.

[0074] S45: Based on the calculation results of step S44, calculate the translation ΔX of the lifting device's spatial rectangular coordinate system relative to the target's spatial rectangular coordinate system along the X-axis, the translation ΔY along the Y-axis, and the translation ΔZ along the Z-axis using the following formulas:

[0075]

[0076]

[0077]

[0078] Where, m 11 =cosα·cosγ-sinα·sinβ·sinγ, m 12 =sinα·cosγ+cosα·sinβ·sinγ, m 21 = -sinα·cosβ,m 22 =cosα·cosβ,m 31 =cosα·sinγ+sinα·sinβ·cosγ, m 32 =sinα·sinγ-cosα·sinβ·cosγ, Z′ A11 Let Z′ be the Z-coordinate of the first image point in the target space Cartesian coordinate system. A12 Z′ is the Z-coordinate of the second image point in the target space Cartesian coordinate system. A21 Let Z′ be the Z-coordinate of the third image point in the target space rectangular coordinate system. A22 Let Z be the Z coordinate of the fourth image point in the target space rectangular coordinate system.

[0079] S46: Output the pose data of the spreader 2 relative to the transport vehicle 1 based on the calculation results of steps S44-S45.

[0080] S5: The crane control system adjusts the lifting device 2 according to the position data to complete the lifting and transfer of large components.

[0081] The spreader 2 is connected to the boom, and the spreader 2 can be adjusted by coordinating the various joints of the boom.

[0082] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this invention disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this invention can be achieved, and this is not limited herein.

[0083] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A six-dimensional relative pose measurement device for hoisting and transferring large components, characterized in that, include: A first optical measurement module, a second optical measurement module, and a processing module are arranged on the same straight line. A first cooperative target and a second cooperative target are also arranged on the same straight line. The first cooperative target and the second cooperative target are symmetrically arranged on the upper surface of the transport vehicle body along the axis of symmetry. Both the first cooperative target and the second cooperative target are used to form two light spots. The first optical measurement module and the second optical measurement module are mounted on the hoisting device with corresponding brackets relative to the installation positions of the first cooperative target and the second cooperative target. The first optical measurement module is used to image the two light spots formed by the first cooperative target and output the coordinates of the first image point and the second image point generated by the first optical measurement module through the two light spots. The second optical measurement module is used to image the two light spots formed by the second cooperative target and output the coordinates of the third image point and the fourth image point generated by the second optical measurement module through the two light spots. Both the first optical measurement module and the second optical measurement module are connected to the processing module. The processing module is installed on the central axis of the lifting device, and the processing module is equidistant from both the first and second optical measurement modules. The processing module is used to measure the pitch and roll angles of the lifting device relative to the horizontal plane, and calculates and outputs pose data based on the data measured by the processing module, the first optical measurement module, and the second optical measurement module.

2. The six-dimensional relative pose measurement device for hoisting and transferring large components according to claim 1, characterized in that, Both the first cooperative target and the second cooperative target include a power connector, a switch, a drive circuit, and two lasers. The power connector is used to connect to an external power source. The switch is used to control the opening and closing of the first cooperative target or the second cooperative target. The drive circuit is used to simultaneously drive the two lasers to emit light. The two lasers are used to illuminate the two window glass surfaces of the first cooperative target or the second cooperative target, forming two light spots.

3. The six-dimensional relative pose measurement device for hoisting and transferring large components according to claim 2, characterized in that, Both the first optical measurement module and the second optical measurement module include a lens, a photosensitive element, and an image processing circuit. The lens is used to acquire two light spots formed by the first cooperative target or the second cooperative target. The photosensitive element is used to image the two light spots of the first cooperative target or the second cooperative target acquired by the lens. The image processing circuit is used to calculate the coordinates of the image points formed by the photosensitive element of the first optical measurement module or the second optical measurement module.

4. The six-dimensional relative pose measurement device for hoisting and transferring large components according to claim 3, characterized in that, The processing module includes an inclinometer, a digital signal processor, and a communication interface. The inclinometer measures the horizontal attitude of the spreader and outputs the pitch and roll angles of the spreader relative to the horizontal plane. The digital signal processor calculates the position and orientation data of the spreader relative to the transport vehicle by processing the data measured by the inclinometer, the first optical measurement module, and the second optical measurement module. The communication interface outputs the position and orientation data to the crane control system, which then controls the spreader.

5. The six-dimensional relative pose measurement device for hoisting and transferring large components according to claim 2, characterized in that, The two lasers can be replaced with two LED lights.

6. A six-dimensional relative pose measurement method for hoisting and transferring large components, implemented using the six-dimensional relative pose measurement device for hoisting and transferring large components as described in claim 4, characterized in that... Specifically, the steps include the following: S1: Construct the six-dimensional relative pose measurement device for hoisting and transferring large components as described in claim 4; S2: The first cooperative target and the second cooperative target respectively drive their two lasers to emit light through their own driving circuits, so that two light spots are formed on the two window glass of the first cooperative target and the second cooperative target. S3: The first optical measurement module obtains the coordinates of the first image point and the second image point by processing the two light spots formed by the first cooperative target; the second optical measurement module obtains the coordinates of the third image point and the fourth image point by processing the two light spots formed by the second cooperative target. S4: The processing module calculates and outputs the pose data of the spreader relative to the transport vehicle based on the pitch angle and roll angle of the spreader relative to the horizontal plane output by the inclinometer, and in combination with the coordinates of the first image point, the second image point, the third image point and the fourth image point; S5: The crane control system adjusts the lifting device according to the posture data to complete the lifting and transfer of the large component.

7. The six-dimensional relative pose measurement method for hoisting and transferring large components according to claim 6, characterized in that, Step S4 specifically includes the following steps: S41: Establish a target space rectangular coordinate system O-XYZ with the center point of the upper surface of the vehicle body where the first cooperative target and the second cooperative target are located as the origin, where the positive direction of the Y-axis is the direction of the front of the transport vehicle, and the first light spot B... 11 The coordinates are (X B11 Y B11 Z B11 ), second light spot B 12 The coordinates are (X B12 Y B12 Z B12 ), third spot B 21 The coordinates are (X B21 Y B21 Z B21 ), fourth spot B 22 The coordinates are (X B22 Y B22 Z B22 ); S42: Establish a rectangular coordinate system O for the lifting device, with the center of the lifting device as the origin. D -X D Y D Z D The coordinates of the first optical measurement module A1 are (X... A1 Y A1 The coordinates of the second optical measurement module A2 are (X, 0), and (X, 0). A2 Y A2 ,0); S43: Establish a first spatial rectangular coordinate system O, using the optical node of the lens of the first optical measurement module as the origin. J1 -X J1 Y J1 Z J1 Using the center of the photosensitive element of the first optical measurement module as the origin, a first image plane spatial rectangular coordinate system O-x1y1z1 is established, and the first image point a 11 The coordinates are (x a11 y a11 , z a11 ), the second image point a 12 The coordinates are (x a12 y a12 , z a12 Using the optical node of the lens of the second optical measurement module as the origin, a second spatial rectangular coordinate system O is established. J2 -X J2 Y J2 Z J2 Using the center of the photosensitive element of the second optical measurement module as the origin, a second image plane spatial rectangular coordinate system O-x2y2z2 is established, and the third image point a 21 The coordinates are (x a21 y a21 , z a21 The fourth image point a) 22 The coordinates are (x a22 y a22 , z a22 ); S44: Based on the pitch and roll angles output by the inclinometer, and in conjunction with the coordinates of the first, second, third, and fourth light spots, calculate the rotation azimuth angle α of the lifting device's spatial rectangular coordinate system relative to the target's spatial rectangular coordinate system. in, m 13 = -cosβ·sinγ,m 23 =sinβ,m 33 =cosβ·cosγ, where β is the pitch angle, γ is the roll angle, and f is the focal length of the lens in the first optical measurement module and the second optical measurement module; S45: Based on the calculation results of step S44, calculate the translation ΔX of the lifting device spatial rectangular coordinate system relative to the target spatial rectangular coordinate system along the X-axis, the translation ΔY along the Y-axis, and the translation ΔZ along the Z-axis using the following formulas: Where, m 11 =cosα·cosγ-sinα·sinβ·sinγ, m 12 =sinα·cosγ+cosα·sinβ·sinγ, m 21 = -sinα·cosβ,m 22 =cosα·cosβ,m 31 =cosα·sinγ+sinα·sinβ·cosγ, m 32 =sinα·sinγ-cosα·sinβ·cosγ, Z′ A11 Let Z′ be the Z-coordinate of the first image point in the target space Cartesian coordinate system. A12 Z′ is the Z-coordinate of the second image point in the target space Cartesian coordinate system. A21 Let Z′ be the Z-coordinate of the third image point in the target space rectangular coordinate system. A22 The Z coordinate of the fourth image point in the target space rectangular coordinate system; S46: Based on the calculation results of steps S44-S45, output the pose data of the spreader relative to the transport vehicle.

Images