Method for measuring axial rotation angle of large cylindrical part

Abstract

The application provides an axial self-rotation angle measurement method for large cylindrical parts, which is applied to the automatic butt joint field of large cylindrical parts. The method comprises the following steps: acquiring the spatial coordinates of a first edge point of a first to-be-butted cylindrical part and a second edge point of a second to-be-butted cylindrical part by using a first industrial camera, a second industrial camera and a line laser; acquiring the spatial coordinates of a first circular hole closest to the first edge point on the first to-be-butted cylindrical part and the spatial coordinates of a second circular hole closest to the second edge point on the second to-be-butted cylindrical part; selecting a reference point, calculating a first deviation of the first circular hole from the reference point and a second deviation of the second circular hole from the reference point; calculating the difference between the first deviation and the second deviation as the circumferential deviation of the two to-be-butted cylindrical parts, and combining the geometric size of the flange of the cylindrical part to obtain the axial self-rotation angle. The method provided by the application solves the axial self-rotation angle measurement problem in the butt joint requirement of large cylindrical parts.

Description

Technical Field

[0001] This invention relates to the field of automatic docking of large cylindrical parts, specifically a method for measuring the axial rotation angle of large cylindrical parts. Background Technology

[0002] The docking of large cylindrical components is a crucial step in the manufacturing process of aerospace, rail transportation, and water conservancy and hydropower industries. The accuracy and stability of the docking directly affect the overall performance. Currently, the docking of large cylindrical components in China is done manually, which is inefficient and difficult to guarantee quality. Rapidly and accurately measuring the six degrees of freedom pose of the cylindrical components to be docked is the core of cylindrical component docking. For medium and large cylindrical parts, since radial disc bolt connections are typically used, the relative rotation angles of the two cylindrical components about their axes must be consistent to complete the docking. Precisely measuring the axial rotation angle of the cylindrical component is a critical step in the automatic docking of large cylindrical components, and it is also the measurement target of the method described in this patent.

[0003] For measuring the axial rotation angle of large cylindrical parts, the common practice is to machine a feature groove on the flange of the mating cylindrical parts or insert a locating pin into the mating hole, and then perform visual inspection. However, the assembly of large cylindrical parts generally has high requirements, and machining a feature groove may affect product performance, thus limiting its applicability. Inserting a locating pin into the mating hole requires manual operation, which inevitably introduces errors and reduces the efficiency and automation level of the mating process. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the prior art by proposing a method for measuring the axial rotation angle in the docking of large cylindrical parts, thereby solving the technical problems of low measurement accuracy, complex operation, and limited application scenarios in the prior art.

[0005] This invention provides a method for measuring the axial rotation angle of a large cylindrical component, comprising: calibrating the intrinsic and extrinsic parameters of a first industrial camera and a second industrial camera; acquiring the spatial coordinates of a first edge point of the first cylindrical component to be docked and a second edge point of the second cylindrical component to be docked using the first industrial camera, the second industrial camera, and a line laser; acquiring the pixel coordinates of a first circular hole on the first cylindrical component to be docked and the pixel coordinates of a second circular hole on the second cylindrical component to be docked; calculating the first angle between the line connecting the first circular hole and the optical center of the first industrial camera and the optical axis of the first industrial camera based on the intrinsic parameters of the first industrial camera and the pixel coordinates of the first hole on the first cylindrical component to be docked; and calculating the second circular hole and the second industrial camera's internal parameters based on the intrinsic parameters of the second industrial camera and the pixel coordinates of the second circular hole on the second cylindrical component to be docked. The second angle between the line connecting the optical centers and the optical axis of the second industrial camera; the first distance from the first circular hole on the first cylindrical part to be docked to the optical axis of the first industrial camera is calculated based on the first angle and the coordinates of the first edge point; the second distance from the second circular hole on the second cylindrical part to be docked to the optical axis of the second industrial camera is calculated based on the second angle and the coordinates of the second edge point; the midpoint of the line connecting the first edge point of the first cylindrical part to be docked and the second edge point of the second cylindrical part to be docked is selected as a reference point; the first deviation from the first circular hole of the first cylindrical part to be docked to the reference point and the second deviation from the second circular hole of the second cylindrical part to be docked to the reference point are calculated; the difference between the first deviation and the second deviation is obtained as the circumferential deviation of the two cylindrical parts to be docked; the axial rotation angle is calculated in combination with the geometric dimensions of the cylindrical part flange.

[0006] Optionally, a first industrial camera, a second industrial camera, and a line laser are used to acquire the spatial coordinates of the first edge point of the first cylindrical part to be docked and the second edge point of the second cylindrical part to be docked, including:

[0007] The flange end faces of the first and second cylindrical parts to be docked have equally spaced, equally numerous, and equally sized circular holes, and the two cylindrical parts to be docked are in a state of collinearity.

[0008] The first industrial camera and the second industrial camera are symmetrically distributed at a certain angle. The field of view of the first industrial camera includes the flange edges of the two cylindrical parts to be docked and the circular hole on the flange end face of the first cylindrical part to be docked. The field of view of the second industrial camera includes the flange edges of the two cylindrical parts to be docked and the circular hole on the flange end face of the second cylindrical part to be docked.

[0009] The line laser is positioned between the first industrial camera and the second industrial camera, and the emitted laser line is projected onto the flange edges of the first docking cylindrical component and the second cylindrical component to be docked, with the laser line parallel to the axes of the two cylindrical components to be docked.

[0010] Obtain the pixel coordinates of the first edge point of the first cylindrical part to be docked in the imaging plane of the first industrial camera, obtain the pixel coordinates of the first edge point of the first cylindrical part to be docked in the imaging plane of the second industrial camera, and calculate the three-dimensional coordinates of the first edge point in the coordinate system of the first industrial camera based on the intrinsic and extrinsic parameters of the first and second industrial cameras.

[0011] Obtain the pixel coordinates of the second edge point of the second cylindrical component to be docked in the imaging plane of the first industrial camera, obtain the pixel coordinates of the second edge point of the second cylindrical component to be docked in the imaging plane of the second industrial camera, and calculate the three-dimensional coordinates of the second edge point in the coordinate system of the second industrial camera based on the intrinsic and extrinsic parameters of the first and second industrial cameras.

[0012] Optionally, obtaining the pixel coordinates of the first circular hole on the first cylindrical component to be docked and the pixel coordinates of the second circular hole on the second cylindrical component to be docked includes:

[0013] Obtain the pixel coordinates of the first circular hole in the imaging plane of the first industrial camera that is closest to the first edge point of the first cylindrical part to be docked, and obtain the pixel coordinates of the second circular hole in the imaging plane of the second industrial camera that is closest to the second edge point of the second cylindrical part to be docked.

[0014] Optionally, the first distance from the first circular hole on the first cylindrical part to be docked to the optical axis of the first industrial camera is calculated based on the first included angle and the coordinates of the first edge point, and the second distance from the second circular hole on the second cylindrical part to be docked to the optical axis of the second industrial camera is calculated based on the second included angle and the coordinates of the second edge point, including:

[0015] The Z value of the three-dimensional coordinates of the first edge point of the first cylindrical part to be docked in the coordinate system of the first industrial camera is approximated as the Z value of the center coordinate of the first circular hole. This value is multiplied by the first included angle to obtain the first distance from the first circular hole to the optical axis of the first industrial camera.

[0016] The Z value of the three-dimensional coordinates of the second edge point of the second cylindrical part to be docked in the coordinate system of the second industrial camera is approximated as the Z value of the center coordinate of the second circular hole. This value is multiplied by the second included angle mentioned above to obtain the second distance from the second circular hole to the optical axis of the second industrial camera.

[0017] Optionally, the midpoint of the line connecting the first edge point of the first cylindrical component to be docked and the second edge point of the second cylindrical component to be docked is selected as a reference point. The first deviation from the first circular hole of the first cylindrical component to be docked to the reference point and the second deviation from the second circular hole of the second cylindrical component to the reference point are calculated, including:

[0018] The midpoint of the line connecting the first edge point of the first cylindrical component to be docked and the second edge point of the second cylindrical component to be docked is selected as the reference point.

[0019] Obtain the pixel coordinates of the reference point in the imaging plane of the first industrial camera, obtain the pixel coordinates of the reference point in the imaging plane of the second industrial camera, and calculate the three-dimensional coordinates of the reference point in the first industrial camera coordinate system and the second industrial camera coordinate system respectively based on the intrinsic and extrinsic parameters of the first and second industrial cameras.

[0020] The difference between the first distance of the first circular hole of the first cylindrical part to be docked and the Y value of the reference point in the coordinate system of the first industrial camera is recorded as the first deviation. The difference between the second distance of the second circular hole of the second cylindrical part to be docked and the Y value of the reference point in the coordinate system of the second industrial camera is recorded as the second deviation.

[0021] Optionally, the difference between the first and second deviations is obtained as the circumferential deviation of the two cylindrical parts to be docked. The axial rotation angle is then calculated based on the geometric dimensions of the cylindrical flanges, including:

[0022] The difference between the first and second deviations is taken as the circumferential deviation of the two cylindrical parts to be joined, denoted as D. The axial rotation angle α is calculated based on the geometric dimensions of the cylindrical flange, using the following formula:

[0023] α = 2*arcsin(D / 2*R)

[0024] In the formula, R is the radius of the cylindrical part to be docked.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] This invention employs a measurement method combining two monocular cameras and a laser. First, the laser line on the mating surfaces of two cylindrical flanges is extracted, and the three-dimensional information of the flange edge points is calculated. Then, the pixel coordinates of the circular holes are extracted. Based on the pixel coordinates of the circular holes and the three-dimensional coordinates of the flange edge points, the position information of the circular holes on the two cylindrical parts is calculated. Finally, a reference point is selected on the laser line, and the distance between the circular holes on the two cylindrical parts and the reference point is calculated, thereby calculating the axial rotation angle of the two cylindrical parts. This measurement method requires only two industrial cameras and one laser, resulting in a simple device structure and ease of implementation. This method leverages the depth information measurement capability of binocular cameras, so it is not limited to having the mating surfaces of the two cylindrical parts in a fixed position; the axial rotation angle can be measured as long as the mating surfaces are within the camera's field of view. The use of a laser increases the number of feature points, reducing the complexity of calculating the spatial coordinates of the flange edge points using binocular cameras. This method is a non-contact measurement method that is target-free and requires no manual intervention. This method solves the technical problems of low measurement accuracy, complex operation, and limited application scenarios in existing technologies. Attached Figure Description

[0027] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0028] Figure 1 This is a flowchart of a method for measuring the axial rotation angle of a large cylindrical component according to the present invention.

[0029] Figure 2 This is a mechanical model of the measurement method of the present invention;

[0030] Figure 3 This is a partial mechanical model of the measurement method of the present invention.

[0031] Among the above-mentioned appendices Figure 2 The following reference numerals are included:

[0032] 1. First cylindrical part to be docked; 2. Second cylindrical part to be docked; 3. First industrial camera; 4. Second industrial camera; 5. Laser.

[0033] Among the above-mentioned appendices Figure 3 The following reference numerals are included:

[0034] 6. Laser line projected onto the edge of the flange of the two cylindrical parts; 7. First edge point; 8. Second edge point; 9. Circular hole on the end face of the first cylindrical part flange to be connected; 10. Circular hole on the end face of the second cylindrical part flange to be connected. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0036] This invention provides an embodiment of a method for measuring the axial rotation angle of a large cylindrical component. For example... Figure 1 The diagram shown is a flowchart of the method used in this embodiment, which specifically includes the following steps:

[0037] Step S1: Calibrate the intrinsic and extrinsic parameters of the first and second industrial cameras;

[0038] Step S2: Use a first industrial camera, a second industrial camera, and a line laser to obtain the spatial coordinates of the first edge point of the first cylindrical part to be docked and the second edge point of the second cylindrical part to be docked.

[0039] Step S3: Obtain the pixel coordinates of the first circular hole on the first cylindrical component to be docked and the pixel coordinates of the second circular hole on the second cylindrical component to be docked.

[0040] Step S4: Based on the intrinsic parameters of the first industrial camera and the pixel coordinates of the first circular hole on the first cylindrical part to be docked, calculate the first angle between the line connecting the first circular hole and the optical center of the first industrial camera and the optical axis of the first industrial camera; based on the intrinsic parameters of the second industrial camera and the pixel coordinates of the second circular hole on the second cylindrical part to be docked, calculate the second angle between the line connecting the second circular hole and the optical center of the second industrial camera and the optical axis of the second industrial camera.

[0041] Step S5: Calculate the first distance from the first circular hole on the first cylindrical part to be docked to the optical axis of the first industrial camera based on the first included angle and the coordinates of the first edge point; calculate the second distance from the second circular hole on the second cylindrical part to be docked to the optical axis of the second industrial camera based on the second included angle and the coordinates of the second edge point.

[0042] Step S6: Select the midpoint of the line connecting the first edge point of the first cylindrical part to be docked and the second edge point of the second cylindrical part to be docked as a reference point, and calculate the first deviation from the first circular hole of the first cylindrical part to be docked to the reference point and the second deviation from the second circular hole of the second cylindrical part to be docked to the reference point.

[0043] Step S7: Calculate the difference between the first deviation and the second deviation as the circumferential deviation of the two cylindrical parts to be docked, and calculate the axial rotation angle deviation in combination with the geometric dimensions of the cylindrical part flange.

[0044] Step S2 uses a first industrial camera, a second industrial camera, and a line laser to acquire the spatial coordinates of the first edge point of the first cylindrical part to be docked and the second edge point of the second cylindrical part to be docked, specifically including:

[0045] like Figure 2 The flange end faces of the first and second cylindrical parts to be docked are distributed with equally spaced, equally numerous, and equally sized circular holes, and the two cylindrical parts to be docked are in a state of collinearity.

[0046] The first industrial camera and the second industrial camera are symmetrically distributed at a certain angle. The field of view of the first industrial camera includes the flange edge of the two cylindrical parts to be docked and the circular hole on the flange end face of the first cylindrical part to be docked. The field of view of the second industrial camera includes the flange edge of the cylindrical parts to be docked and the circular hole on the flange end face of the second cylindrical part to be docked.

[0047] like Figure 2 The line laser shown is arranged between the first industrial camera and the second industrial camera. The emitted laser line is projected onto the flange edge of the first docking cylindrical part and the second cylindrical part to be docked. The laser line is parallel to the axis of the two cylindrical parts to be docked.

[0048] Obtain the pixel coordinates of the first edge point of the first cylindrical part to be docked in the imaging plane of the first industrial camera, obtain the pixel coordinates of the first edge point of the first cylindrical part to be docked in the imaging plane of the second industrial camera, and calculate the three-dimensional coordinates of the first edge point in the coordinate system of the first industrial camera based on the intrinsic and extrinsic parameters of the first and second industrial cameras.

[0049] Obtain the pixel coordinates of the second edge point of the second cylindrical component to be docked in the imaging plane of the first industrial camera, obtain the pixel coordinates of the second edge point of the second cylindrical component to be docked in the imaging plane of the second industrial camera, and calculate the three-dimensional coordinates of the second edge point in the coordinate system of the second industrial camera based on the intrinsic and extrinsic parameters of the first and second industrial cameras.

[0050] Step S3, which involves obtaining the pixel coordinates of the first circular hole on the first cylindrical component to be docked and the pixel coordinates of the second circular hole on the second cylindrical component to be docked, specifically includes:

[0051] Obtain the pixel coordinates of the first circular hole in the imaging plane of the first industrial camera that is closest to the first edge point of the first cylindrical part to be docked, and obtain the pixel coordinates of the second circular hole in the imaging plane of the second industrial camera that is closest to the second edge point of the second cylindrical part to be docked.

[0052] In step S5, the first distance from the first circular hole on the first cylindrical part to be docked to the optical axis of the first industrial camera is calculated based on the first included angle and the coordinates of the first edge point. The second distance from the second circular hole on the second cylindrical part to be docked to the optical axis of the second industrial camera is calculated based on the second included angle and the coordinates of the second edge point. This includes:

[0053] The Z value of the three-dimensional coordinates of the first edge point of the first cylindrical part to be docked in the coordinate system of the first industrial camera is approximated as the Z value of the center coordinate of the first circular hole. This value is multiplied by the first included angle mentioned above to obtain the first distance from the first circular hole to the optical axis of the first industrial camera.

[0054] The Z value of the three-dimensional coordinates of the second edge point of the second cylindrical part to be docked in the coordinate system of the second industrial camera is approximated as the Z value of the center coordinate of the second circular hole. This value is multiplied by the second included angle mentioned above to obtain the second distance from the second circular hole to the optical axis of the second industrial camera.

[0055] In step S6, the midpoint of the line connecting the first edge point of the first cylindrical component to be docked and the second edge point of the second cylindrical component to be docked is selected as a reference point. The first deviation from the first circular hole of the first cylindrical component to be docked to the reference point and the second deviation from the second circular hole of the second cylindrical component to the reference point are calculated, including:

[0056] The midpoint of the line connecting the first edge point of the first cylindrical component to be docked and the second edge point of the second cylindrical component to be docked is selected as the reference point.

[0057] Obtain the pixel coordinates of the reference point in the imaging plane of the first industrial camera, obtain the pixel coordinates of the reference point in the imaging plane of the second industrial camera, and calculate the three-dimensional coordinates of the reference point in the first industrial camera coordinate system and the second industrial camera coordinate system respectively based on the intrinsic and extrinsic parameters of the first and second industrial cameras.

[0058] The difference between the first distance of the first circular hole of the first cylindrical part to be docked and the Y value of the reference point in the coordinate system of the first industrial camera is recorded as the first deviation. The difference between the second distance of the second circular hole of the second cylindrical part to be docked and the Y value of the reference point in the coordinate system of the second industrial camera is recorded as the second deviation.

[0059] In step S7, the difference between the first deviation and the second deviation is obtained as the circumferential deviation of the two cylindrical parts to be docked. The axial rotation angle is calculated based on the geometric dimensions of the cylindrical part flanges, including:

[0060] The difference between the first and second deviations is taken as the circumferential deviation of the two cylindrical parts to be joined, denoted as D. The axial rotation angle α is calculated based on the geometric dimensions of the cylindrical flange, using the following formula:

[0061] α = 2*arcsin(D / 2*R)

[0062] In the formula, R is the radius of the cylindrical part to be docked.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for measuring the axial rotation angle of a large cylindrical component, characterized in that, include: Calibrate the internal and external parameters of the first and second industrial cameras; A first industrial camera, a second industrial camera, and a line laser are used to acquire the spatial coordinates of the first edge point of the first cylindrical part to be docked and the second edge point of the second cylindrical part to be docked. Obtain the pixel coordinates of the first circular hole on the first cylindrical component to be docked and the pixel coordinates of the second circular hole on the second cylindrical component to be docked; Based on the intrinsic parameters of the first industrial camera and the pixel coordinates of the first circular hole on the first cylindrical part to be docked, the first angle between the line connecting the first circular hole and the optical center of the first industrial camera and the optical axis of the first industrial camera is calculated. Based on the intrinsic parameters of the second industrial camera and the pixel coordinates of the second circular hole on the second cylindrical part to be docked, the second angle between the line connecting the second circular hole and the optical center of the second industrial camera and the optical axis of the second industrial camera is calculated. The first distance from the first circular hole on the first cylindrical part to be docked to the optical axis of the first industrial camera is calculated based on the first included angle and the coordinates of the first edge point. The second distance from the second circular hole on the second cylindrical part to be docked to the optical axis of the second industrial camera is calculated based on the second included angle and the coordinates of the second edge point. Select the midpoint of the line connecting the first edge point of the first cylindrical part to be docked and the second edge point of the second cylindrical part to be docked as a reference point, and calculate the first deviation from the first circular hole of the first cylindrical part to be docked to the reference point and the second deviation from the second circular hole of the second cylindrical part to be docked to the reference point. The difference between the first and second deviations is obtained as the circumferential deviation of the two cylindrical parts to be docked. The axial rotation angle is then calculated in combination with the geometric dimensions of the cylindrical part flange.

2. The method for measuring the axial rotation angle of a large cylindrical component according to claim 1, characterized in that, The spatial coordinates of the first edge point of the first cylindrical part to be docked and the second edge point of the second cylindrical part to be docked are obtained using a first industrial camera, a second industrial camera, and a line laser, including: The flange end faces of the first and second cylindrical parts to be docked have equally spaced, equally numerous, and equally sized circular holes, and the two cylindrical parts to be docked are in a state of collinearity. The first industrial camera and the second industrial camera are symmetrically distributed at a certain angle. The field of view of the first industrial camera includes the flange edges of the two cylindrical parts to be docked and the circular hole on the flange end face of the first cylindrical part to be docked. The field of view of the second industrial camera includes the flange edges of the two cylindrical parts to be docked and the circular hole on the flange end face of the second cylindrical part to be docked. The line laser is positioned between the first industrial camera and the second industrial camera, and the emitted laser line is projected onto the flange edges of the first docking cylindrical component and the second cylindrical component to be docked, with the laser line parallel to the axes of the two cylindrical components to be docked. Obtain the pixel coordinates of the first edge point of the first cylindrical part to be docked in the imaging plane of the first industrial camera, obtain the pixel coordinates of the first edge point of the first cylindrical part to be docked in the imaging plane of the second industrial camera, and calculate the three-dimensional coordinates of the first edge point in the coordinate system of the first industrial camera based on the intrinsic and extrinsic parameters of the first and second industrial cameras. Obtain the pixel coordinates of the second edge point of the second cylindrical component to be docked in the imaging plane of the first industrial camera, obtain the pixel coordinates of the second edge point of the second cylindrical component to be docked in the imaging plane of the second industrial camera, and calculate the three-dimensional coordinates of the second edge point in the coordinate system of the second industrial camera based on the intrinsic and extrinsic parameters of the first and second industrial cameras.

3. The method for measuring the axial rotation angle of a large cylindrical component according to claim 1, characterized in that, Obtaining the pixel coordinates of the first circular hole on the first cylindrical component to be docked and the pixel coordinates of the second circular hole on the second cylindrical component to be docked includes: Obtain the pixel coordinates of the first circular hole in the imaging plane of the first industrial camera that is closest to the first edge point of the first cylindrical part to be docked, and obtain the pixel coordinates of the second circular hole in the imaging plane of the second industrial camera that is closest to the second edge point of the second cylindrical part to be docked.

4. The method for measuring the axial rotation angle of a large cylindrical component according to claim 1, characterized in that, The first distance from the first circular hole on the first cylindrical component to be docked to the optical axis of the first industrial camera is calculated based on the first included angle and the coordinates of the first edge point. The second distance from the second circular hole on the second cylindrical component to be docked to the optical axis of the second industrial camera is calculated based on the second included angle and the coordinates of the second edge point, including: The Z value of the three-dimensional coordinates of the first edge point of the first cylindrical part to be docked in the coordinate system of the first industrial camera is approximated as the Z value of the center coordinate of the first circular hole. This value is multiplied by the first included angle to obtain the first distance from the first circular hole to the optical axis of the first industrial camera. The Z value of the three-dimensional coordinates of the second edge point of the second cylindrical part to be docked in the coordinate system of the second industrial camera is approximated as the Z value of the center coordinate of the second circular hole. This value is multiplied by the aforementioned second included angle to obtain the second distance from the second circular hole to the optical axis of the second industrial camera.

5. The method for measuring the axial rotation angle of a large cylindrical component according to claim 1, characterized in that, The midpoint of the line connecting the first edge point of the first cylindrical component to be docked and the second edge point of the second cylindrical component to be docked is selected as a reference point. The first deviation from the first circular hole of the first cylindrical component to be docked to the reference point and the second deviation from the second circular hole of the second cylindrical component to the reference point are calculated, including: The midpoint of the line connecting the first edge point of the first cylindrical component to be docked and the second edge point of the second cylindrical component to be docked is selected as the reference point. Obtain the pixel coordinates of the reference point in the imaging plane of the first industrial camera, obtain the pixel coordinates of the reference point in the imaging plane of the second industrial camera, and calculate the three-dimensional coordinates of the reference point in the first industrial camera coordinate system and the second industrial camera coordinate system respectively based on the intrinsic and extrinsic parameters of the first and second industrial cameras. The difference between the first distance of the first circular hole of the first cylindrical part to be docked and the Y value of the reference point in the coordinate system of the first industrial camera is recorded as the first deviation. The difference between the second distance of the second circular hole of the second cylindrical part to be docked and the Y value of the reference point in the coordinate system of the second industrial camera is recorded as the second deviation.

6. The method for measuring the axial rotation angle of a large cylindrical component according to claim 1, characterized in that, The difference between the first and second deviations is obtained as the circumferential deviation of the two cylindrical parts to be joined. The axial rotation angle is then calculated based on the geometric dimensions of the cylindrical flanges, including: The difference between the first and second deviations is taken as the circumferential deviation of the two cylindrical parts to be joined, denoted as D. The axial rotation angle α is calculated based on the geometric dimensions of the cylindrical flange, using the following formula: α = 2*arcsin(D / 2*R) In the formula, R is the radius of the cylindrical part to be docked.

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