Split type high-precision holding pin expansion hole type visual calibration target and calibration method

Abstract

The invention relates to a split type high-precision holding pin expansion hole type visual calibration target and a calibration method, and solves the technical problems that an existing visual positioning target is large in structural size, high in installation precision requirement and inconvenient to use, transport and store. The visual calibration device comprises an expansion hole type visual calibration target and a holding pin type visual calibration target, the hole expansion type visual calibration target comprises a hole expansion support, a hole expansion target pasting plate and a hole expansion positioning shaft. One end of the expansion hole positioning shaft is sleeved with an expansion sleeve tip cone and a spring expansion sleeve, and the other end is provided with an expansion hole tightening knob; the spring expansion sleeve is respectively matched with the expansion hole positioning shaft and the expansion sleeve tip cone to form double-inclined-surface positioning; the holding pin type visual calibration target comprises a holding pin support, a holding pin target pasting plate and a holding pin positioning support. A spring holding sleeve is embedded in a through hole of the holding pin positioning bracket; a holding pin tightening knob is mounted on the holding pin positioning bracket; and the spring holding sleeve is respectively matched with the holding pin positioning bracket and the holding pin tightening knob to form double-inclined-surface positioning.

Description

Technical Field

[0001] The invention relates to a visual positioning target and a positioning method in automatic docking technology, and in particular to a split high-precision pin-holding expansion hole type visual calibration target and a calibration method. Background Art

[0002] In the docking of large cabins, it is necessary to adjust the posture of two separated cabins so that the docking surfaces fit closely and align accurately, and then firmly connect them with bolts and nuts. It involves many parts, the cabins are large in size, and the outer surface of the cabins cannot generally be changed. Therefore, it is difficult to achieve high-precision cabin docking and assembly, and the operation is complicated. In recent years, with the development of visual positioning technology and posture adjustment technology, automatic docking technology for large cabins has also gradually been applied.

[0003] For automatic docking with high precision and high reliability requirements, positioning technology based on monocular vision system measurement is generally used. This technology requires a visual camera to collect high-precision visual calibration targets that can reflect the end face feature information of the product, so as to establish a multi-coordinate system collaborative unified model of the cabin coordinate system, the visual coordinate system, and the attitude adjustment mechanism coordinate system to achieve the goal of cabin docking accuracy error within ±0.2mm.

[0004] Existing visual calibration targets are usually integrated structures, such as a three-point full-contact visual positioning target disclosed in Chinese patent CN117629060A, which includes a head target and a body target; when the cabin docking surface is positioned, the head target is installed on the front cabin docking surface, and the body target is installed on the rear cabin docking surface; the head target includes a target tooling plate and two L-shaped target adhesive plates; the L-shaped target adhesive plate is fixed to the end of the target tooling plate below the positioning hole, and the light spot target for visual photography is pasted when the cabin docking surface is positioned; the difference between the body target and the head target is that the positioning hole is replaced by an installation positioning pin. However, the disadvantage of this visual positioning target is that the structure size is large and the installation accuracy requirements are high, which is still not convenient for use, transportation and storage. Summary of the invention

[0005] The purpose of the present invention is to solve the technical problems that the existing visual positioning targets have large structural dimensions, high installation accuracy requirements, and are inconvenient to use, transport and store, and to provide a split high-precision pin-expanding hole type visual calibration target and a calibration method.

[0006] In order to achieve the above purpose, the technical solution provided by the present invention is as follows:

[0007] A split high-precision pin-expanding hole type visual calibration target is used for visual calibration of the front compartment and the rear compartment; a pin hole is provided on the front section docking surface of the front compartment; a pin shaft corresponding to the pin hole is provided on the rear section docking surface of the rear compartment;

[0008] Its special features are:

[0009] It includes at least two expansion hole type visual calibration targets and at least two pin type visual calibration targets;

[0010] The expansion hole type visual calibration target includes an expansion hole bracket, an expansion hole target pasting plate arranged at one end of the expansion hole bracket, and an expansion hole positioning shaft penetrating the other end of the expansion hole bracket and threadedly matched with the expansion hole bracket; one end of the expansion hole positioning shaft is sequentially sleeved with an expansion sleeve top cone and a spring expansion sleeve from the outside to the inside, and the other end is provided with an expansion hole tightening knob; the plane where the expansion hole target pasting plate is located is parallel to the axis of the pin hole; the spring expansion sleeve is used to expand and tighten the pin hole; the shape and size of the expansion hole bracket, and the connection position of the expansion hole bracket and the expansion hole target pasting plate are all determined according to the shape of the front cabin section;

[0011] One end of the expansion hole positioning shaft is provided with a first outer cone with the small end facing inward, and the top cone of the expansion sleeve is provided with a second outer cone facing the end; both ends of the spring expansion sleeve are provided with inner cones, which respectively cooperate with the first outer cone and the second outer cone to form a double-bevel positioning;

[0012] The pin-holding type visual calibration target includes a pin-holding bracket, a pin-holding target pasting plate arranged at one end of the pin-holding bracket, and a pin-holding positioning bracket penetrated at the other end of the pin-holding bracket; a spring clamping sleeve is embedded in the through hole of the pin-holding positioning bracket, and the spring clamping sleeve is used to clamp the pin shaft; the plane where the pin-holding target pasting plate is located is parallel to the axis of the pin shaft; the shape and size of the pin-holding bracket, and the connection position of the pin-holding bracket and the pin-holding target pasting plate are determined according to the shape of the rear cabin section;

[0013] A first inner conical surface is provided at one end of the pin positioning bracket, and a pin tightening knob is installed at the other end. The connecting end of the pin tightening knob extends into the through hole of the pin positioning bracket and cooperates with its thread, and a second inner conical surface is provided at the end of the connecting end; the through hole diameter of the pin tightening knob is larger than the through hole diameter of the spring tightening sleeve, and the two are coaxially arranged; both ends of the spring tightening sleeve are provided with outer conical surfaces, which respectively cooperate with the first inner conical surface and the second inner conical surface to form double-bevel positioning.

[0014] Furthermore, a threaded back plate is provided on one side of the expansion hole bracket close to the expansion hole tightening knob, and the threaded back plate is provided with a back plate threaded hole coaxial with the through hole of the expansion hole bracket;

[0015] The middle of the expansion hole positioning shaft is provided with a positioning shaft external thread, and the positioning shaft external thread cooperates with the back plate threaded hole to form a thread pair; this structure simplifies processing and ensures the accuracy of the through hole of the expansion hole bracket.

[0016] The other end of the holding pin positioning bracket is provided with a bracket internal thread, and the middle part of the connecting end of the holding pin tightening knob is provided with a knob external thread, and the knob external thread cooperates with the bracket internal thread to form a thread pair.

[0017] Furthermore, the external thread of the positioning shaft and the threaded hole of the back plate are both reverse threads, which is convenient for operation.

[0018] Furthermore, a top cone groove is provided on one side of the expansion hole bracket away from the expansion hole tightening knob, and a top cone mounting groove is provided which is radial and connected to the top cone groove. The top cone of the expansion sleeve is embedded in the top cone groove and fixed by a top screw provided in the top cone mounting groove. The other end of the expansion hole positioning shaft extends into the through hole of the expansion hole tightening knob, and a top tightening plane is provided on the other end. The connecting end of the expansion hole tightening knob is provided with a through groove which is radial and connected to the through hole, and the top tightening plane at the other end of the expansion hole positioning shaft is tightened and fixed by a top screw provided in the through groove. These two designs make the structure more compact.

[0019] Furthermore, the hole expansion bracket is a straight rod, which is perpendicular to the plane where the hole expansion target paste plate is located and the axis of the pin hole; the pin holding bracket is a straight rod, which is perpendicular to the plane where the pin holding target paste plate is located and the axis of the pin shaft. The hole expansion bracket and the pin holding bracket can also be special-shaped structures to avoid the shape of the corresponding cabin outer surface and leave operating space and shooting space, and it only needs to ensure that the plane axes are parallel to each other.

[0020] Furthermore, the spring expansion sleeve is a cylindrical structure with inner conical surfaces at both ends, and elastic grooves facing the other end are alternately opened at both ends along the circumferential direction, so that the cylindrical structure constitutes a continuous S-shaped elastic structure along the circumferential direction and can expand radially; the spring clamping sleeve is a cylindrical structure with outer conical surfaces at both ends, and elastic grooves facing the other end are alternately opened at both ends along the circumferential direction, so that the cylindrical structure constitutes a continuous S-shaped elastic structure along the circumferential direction and can contract radially.

[0021] Furthermore, an annular air cavity is provided in the middle of the through hole of the holding pin positioning bracket, the position of the air cavity corresponds to the maximum diameter position of the spring holding sleeve, and is connected to the through hole through an elastic groove.

[0022] Furthermore, a mounting boss is provided on the outer periphery of the holding pin positioning bracket, and the mounting boss is fixed to the other end of the holding pin bracket by screws.

[0023] The present invention also provides a split type high-precision pin-holding expansion hole type visual calibration method, which is implemented by using the above split type high-precision pin-holding expansion hole type visual calibration target, and its special feature is that it includes the following steps:

[0024] S1, build an automatic docking system;

[0025] The automatic docking system includes a posture adjustment mechanism, a visual camera, an expansion hole type visual target and a pin holding type visual target; the expansion hole type visual target is used to center and position the pin hole on the front docking surface, and the pin holding type visual target is used to center and position the pin shaft on the rear docking surface. The number of the expansion hole type visual target and the pin holding type visual target corresponds to the number of the pin hole and the pin shaft respectively;

[0026] S2, placing the front cabin section and the rear cabin section on the attitude adjustment mechanism respectively, so that the front section docking surface corresponds to the rear section docking surface;

[0027] S3, pasting corresponding light spot targets on the expansion hole target pasting plate of the expansion hole type vision target and the holding pin target pasting plate of the holding pin type vision target respectively;

[0028] S4, install the expansion hole type vision target in the pin hole; install the pin holding type vision target on the pin shaft;

[0029] S5, photographing the light spot targets of the expansion hole target pasting plate and the pin holding target pasting plate through a visual camera, analyzing and calculating the spatial positions of the respective light spot targets based on the distance between the plane where the expansion hole target pasting plate is located and the axis of the pin hole, and the distance between the plane where the pin holding target pasting plate is located and the axis of the pin shaft, and obtaining the positions of the pin hole and the pin shaft;

[0030] S6, determine whether the positions of the pin hole and the pin shaft meet the requirements for automatic docking:

[0031] If satisfied, execute step S7;

[0032] If not, the positions of the front compartment and the rear compartment are corrected by the attitude adjustment mechanism, and the process returns to step S5;

[0033] S7, remove the expansion hole type vision target and the pin type vision target, pack them for storage, and complete this vision calibration.

[0034] Furthermore, step S4 is specifically as follows:

[0035] S4-1, insert the expansion hole positioning shaft of the expansion hole type visual target into the pin hole;

[0036] S4-2, rotating the expansion hole tightening knob to move the expansion hole positioning shaft in a direction away from the pin hole, thereby causing the first outer cone surface to move in a direction away from the pin hole, and cooperating with the second outer cone surface to squeeze the inner cone surfaces at both ends of the spring expansion sleeve;

[0037] S4-3, the spring expansion sleeve is deformed and expanded under force, and the pin hole is centered and positioned;

[0038] S4-4, put the spring clamping sleeve of the pin-type visual target onto the pin shaft;

[0039] S4-5, rotating the pin tightening knob to move the pin tightening knob toward the pin shaft, thereby causing the first inner conical surface to move toward the pin shaft, and cooperating with the second inner conical surface to squeeze the outer conical surfaces at both ends of the spring clamping sleeve;

[0040] S4-6, the spring clamping sleeve is deformed by force, and the pin shaft is centered and positioned.

[0041] The beneficial effects of the present invention compared with the prior art are as follows:

[0042] 1. The present invention provides a split high-precision pin-holding expansion hole type visual calibration target, which respectively designs a split-structure expansion hole type visual target and a pin-holding type calibration target. Through the double-bevel positioning of the spring expansion sleeve or the spring clamping sleeve, double contact line centering is achieved, and then the accurate position of the pin hole and the pin shaft is obtained, thereby improving the positioning accuracy, and its positioning accuracy can reach ±0.2mm.

[0043] 2. The split high-precision pin-expanding hole type visual calibration target provided by the present invention has a compact structure, small size, convenient transportation, storage and use, and low maintenance difficulty, which solves the problem that the existing visual positioning target structure is large in size and inconvenient to use, transport and store. In addition, due to the split structure, even if a single target is damaged, it only needs to be reprocessed separately, and the maintenance difficulty and maintenance cost are low.

[0044] 3. The present invention provides a split high-precision pin-expanding hole type visual calibration target, which uses a spring expansion sleeve to position the pin hole in a hole-expanding manner, and a spring clamping sleeve to position the pin shaft in a shaft-clamping manner. The operation is simple and the difficulty of installing the calibration target is reduced.

[0045] 4. The present invention provides a split-type high-precision pin-expansion hole type visual calibration method, which achieves fast and efficient docking surface positioning by adopting a split-structure expansion hole type visual target and a pin-expansion hole type calibration target. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic diagram of the installation of a split high-precision pin-holding expansion hole type visual calibration target embodiment of the present invention;

[0047] Figure 2 Schematic diagram of the three-dimensional structure of the expansion hole type visual target in the embodiment of the present invention;

[0048] Figure 3 : is a schematic diagram of the structure of the expansion hole type visual target in an embodiment of the present invention, wherein A is a partial cross-sectional view, and B is a partial enlarged view of A;

[0049] Figure 4 : is a schematic diagram of the structure of the expansion hole positioning shaft in an embodiment of the present invention, wherein A is a three-dimensional structural diagram and B is a cross-sectional view;

[0050] Figure 5 1 is a schematic diagram of the structure of a spring expansion sleeve in an embodiment of the present invention, wherein A is a three-dimensional structural diagram and B is a cross-sectional view;

[0051] Figure 6 Schematic diagram of the structure of the top cone of the expansion sleeve in an embodiment of the present invention, wherein A is a three-dimensional structural diagram and B is a cross-sectional view;

[0052] Figure 7 Schematic diagram of the installation of the expansion hole type visual target in the embodiment of the present invention;

[0053] Figure 8 Schematic diagram of the three-dimensional structure of the pin-holding type visual target in an embodiment of the present invention;

[0054] Fig. 9 : is a schematic diagram of the structure of a pin-holding type visual target in an embodiment of the present invention, wherein A is a partial cross-sectional view, and B is a partial enlarged view of A;

[0055] Fig.10 1 is a schematic diagram of the structure of a pin tightening knob according to an embodiment of the present invention, wherein A is a three-dimensional structural diagram and B is a cross-sectional view;

[0056] Fig.11 1 is a schematic diagram of the structure of the pin-holding positioning bracket according to an embodiment of the present invention, wherein A is a three-dimensional structural diagram and B is a cross-sectional view;

[0057] Fig.12 Schematic diagram of the three-dimensional structure of the spring clamping sleeve in the embodiment of the present invention;

[0058] Fig.13 1 is a schematic diagram of the installation of a pin-holding type visual target in an embodiment of the present invention;

[0059] Fig.14 It is a schematic diagram of the structure of the light spot target in an embodiment of the present invention.

[0060] Figure Number:

[0061] 1-front cabin section, 11-front docking surface;

[0062] 2-rear cabin section, 21-rear docking surface;

[0063] 3-expansion hole type visual target, 31-expansion hole bracket, 32-expansion hole tightening knob, 33-expansion hole target pasting plate, 34-expansion hole positioning shaft, 341-first outer cone, 342-positioning shaft outer thread, 35-spring expansion sleeve, 36-expansion sleeve top cone, 361-second outer cone, 37-threaded back plate, 371-back plate threaded hole;

[0064] 4-pin-type visual target, 41-pin bracket, 42-pin tightening knob, 421-second inner cone, 422-knob outer thread, 43-pin target pasting plate, 44-spring clamping sleeve, 45-pin positioning bracket, 451-first inner cone, 452-bracket inner thread, 453-air cavity, 454-mounting boss. DETAILED DESCRIPTION

[0065] The specific technical solutions in the embodiments of the present invention will be further described below in conjunction with the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0066] The present invention discloses a split high-precision pin-expanding hole type visual calibration target and a calibration method, which include an expanding hole type visual calibration target and a pin-expanding hole type visual calibration target. A split high-precision design is adopted. When the butt joint surfaces are positioned, the two visual targets are respectively installed on the two butt joint surfaces according to the hole axis relationship. The specific position of the light spot target is then acquired by taking photos with a camera, thereby acquiring the relative position relationship between the butt joint surfaces.

[0067] Figure 1 A split high-precision pin-expanding hole type visual calibration target provided in an embodiment of the present invention is used for visual calibration of a front compartment section 1 and a rear compartment section 2; two pin holes are provided on a front section docking surface 11 of the front compartment section 1; and two pin shafts corresponding to the pin holes are provided on a rear section docking surface 21 of the rear compartment section 2.

[0068] The embodiment of the present invention includes two expansion hole type vision calibration targets 3 and two pin type vision calibration targets 4.

[0069] refer to Figure 2-Figure 7 The expansion hole type visual calibration target 3 includes an expansion hole bracket 31, an expansion hole target pasting plate 33 arranged at one end of the expansion hole bracket 31, and an expansion hole positioning shaft 34 penetrated at the other end of the expansion hole bracket 31 and threadedly matched with the expansion hole positioning shaft 34; one end of the expansion hole positioning shaft 34 is sequentially sleeved with an expansion sleeve top cone 36 and a spring expansion sleeve 35 from the outside to the inside, and the other end is provided with an expansion hole tightening knob 32; the plane where the expansion hole target pasting plate 33 is located is parallel to the axis of the pin hole; the spring expansion sleeve 35 is used to expand the pin hole. The expansion hole bracket 31 is a straight rod, which is perpendicular to the plane where the expansion hole target pasting plate 33 is located and the axis of the pin hole.

[0070] A threaded back plate 37 is provided on one side of the expansion hole bracket 31 near the expansion hole tightening knob 32, and a back plate threaded hole 371 coaxial with the through hole of the expansion hole bracket 31 is provided on the threaded back plate 37; a positioning shaft external thread 342 is provided in the middle of the expansion hole positioning shaft 34, and the positioning shaft external thread 342 cooperates with the back plate threaded hole 371 to form a thread pair. Both the positioning shaft external thread 342 and the back plate threaded hole 371 are reverse threads for easy tightening.

[0071] refer to Figure 4-Figure 6 One end of the expansion hole positioning shaft 34 is provided with a first outer cone 341 with the small end facing inward, and the expansion sleeve top cone 36 is provided with a second outer cone 361 facing this end; both ends of the spring expansion sleeve 35 are provided with inner cones, which respectively cooperate with the first outer cone 341 and the second outer cone 361 to form a double-bevel positioning.

[0072] A top cone groove is provided on the side of the expansion hole bracket 31 away from the expansion hole tightening knob 32, and a top cone mounting groove which is radial and connected to the top cone groove is provided. The top cone 36 of the expansion sleeve is embedded in the top cone groove and fixed by a top screw arranged in the top cone mounting groove; the other end of the expansion hole positioning shaft 34 extends into the through hole of the expansion hole tightening knob 32, and a tightening plane is opened on the other end; the connecting end of the expansion hole tightening knob 32 is provided with a through groove which is radial and connected to the through hole, and the tightening plane at the other end of the expansion hole positioning shaft 34 is tightened and fixed by a top screw arranged in the through groove.

[0073] refer to Figure 8-Figure 13 The pin-holding type visual calibration target 4 includes a pin-holding bracket 41, a pin-holding target pasting plate 43 arranged at one end of the pin-holding bracket 41, and a pin-holding positioning bracket 45 penetrated at the other end of the pin-holding bracket 41; a spring clamping sleeve 44 is embedded in the through hole of the pin-holding positioning bracket 45, and the spring clamping sleeve 44 is used to clamp the pin shaft; the plane where the pin-holding target pasting plate 43 is located is parallel to the axis of the pin shaft. The pin-holding bracket 41 is a straight rod, which is perpendicular to the plane where the pin-holding target pasting plate 43 is located and the axis of the pin shaft.

[0074] One end of the pin-holding positioning bracket 45 is provided with a first inner cone 451, and the other end is provided with a pin-holding tightening knob 42. The connecting end of the pin-holding tightening knob 42 extends into the through hole of the pin-holding positioning bracket 45 and is threadedly matched with the through hole, and the end of the connecting end is provided with a second inner cone 421. The other end of the pin-holding positioning bracket 45 is provided with a bracket internal thread 452, and the middle part of the connecting end of the pin-holding tightening knob 42 is provided with a knob external thread 422, and the knob external thread 422 cooperates with the bracket internal thread 452 to form a thread pair. An annular air cavity 453 is provided in the middle part of the through hole of the pin-holding positioning bracket 45, and the position of the air cavity 453 corresponds to the maximum diameter position of the spring holding sleeve 44.

[0075] refer to Figure 10-12 The through hole diameter of the pin tightening knob 42 is larger than the through hole diameter of the spring clamping sleeve 44, and the two are coaxially arranged; both ends of the spring clamping sleeve 44 are provided with outer conical surfaces, which respectively cooperate with the first inner conical surface 451 and the second inner conical surface 421 to form a double-bevel positioning.

[0076] In the embodiment of the present invention, the installation orientation of the expansion hole target pasting plate 33 and the pin holding target pasting plate 43 (i.e., the position relative to the expansion hole bracket 31 and the pin holding bracket 41) is related to the distance between the front section docking surface 11 and the rear section docking surface 21, the operating space and the position of the visual camera, and needs to be determined according to the specific conditions on site.

[0077] The spring expansion sleeve 35 is a cylindrical structure with inner conical surfaces at both ends, and elastic grooves facing the other end are alternately opened at both ends along the circumferential direction, so that the cylindrical structure forms a continuous S-shaped elastic structure along the circumferential direction; the spring clamping sleeve 44 is a cylindrical structure with outer conical surfaces at both ends, and elastic grooves facing the other end are alternately opened at both ends along the circumferential direction, so that the cylindrical structure forms a continuous S-shaped elastic structure along the circumferential direction.

[0078] A mounting boss 454 is provided on the outer periphery of the pin holding and positioning bracket 45 , and the mounting boss 454 is fixed to the other end of the pin holding bracket 41 by screws.

[0079] The embodiment of the present invention further provides a split type high-precision pin-holding expansion hole type visual calibration method, which is implemented by using the above-mentioned split type high-precision pin-holding expansion hole type visual calibration target, and the specific steps are as follows:

[0080] S1, build an automatic docking system;

[0081] The automatic docking system includes a posture adjustment mechanism, a visual camera, an expansion hole type visual target 3 and a pin holding type visual target 4; the expansion hole type visual target 3 is used to center and position the pin hole on the front docking surface 11, and the pin holding type visual target 4 is used to center and position the pin shaft on the rear docking surface 21. The number of the expansion hole type visual target 3 and the pin holding type visual target 4 corresponds to the number of the pin holes and the pin shafts, respectively.

[0082] S2, placing the front cabin section 1 and the rear cabin section 2 on the attitude adjustment mechanism respectively, so that the front section docking surface 11 and the rear section docking surface 21 correspond to each other.

[0083] S3, the corresponding light spot targets are respectively pasted on the expansion hole target pasting plate 33 of the expansion hole type visual target 3 and the holding pin target pasting plate 43 of the holding pin type visual target 4. The pasting reference of the light spot target Fig.14 .

[0084] S4, install the expansion hole type visual target 3 in the pin hole; install the pin holding type visual target 4 on the pin shaft. Specifically:

[0085] S4-1, insert the expansion hole positioning shaft 34 of the expansion hole type visual target 3 into the pin hole;

[0086] S4-2, rotating the expansion hole tightening knob 32, so that the expansion hole positioning shaft 34 moves away from the pin hole, thereby causing the first outer cone surface 341 to move away from the pin hole, and cooperate with the second outer cone surface 361 to squeeze the inner cone surfaces at both ends of the spring expansion sleeve 35;

[0087] S4-3, the spring expansion sleeve 35 is deformed and expanded under force, and the pin hole is centered and positioned;

[0088] S4-4, put the spring clamping sleeve 44 of the pin-holding type visual target 4 on the pin shaft;

[0089] S4-5, rotating the pin tightening knob 42, so that the pin tightening knob 42 moves toward the direction close to the pin shaft, thereby causing the first inner conical surface 451 to move toward the direction close to the pin shaft, and cooperate with the second inner conical surface 421 to squeeze the outer conical surfaces at both ends of the spring tightening sleeve 44;

[0090] S4-6, the spring clamping sleeve 44 is deformed by force to center the pin shaft.

[0091] The order of sections S4-1 to S4-3 and sections S4-4 to S4-6 can be interchanged, that is, the expansion hole type vision target 3 and the pin type vision target 4 can be installed in any order.

[0092] S5, photographing the light spot targets of the expansion hole target pasting plate 33 and the pin holding target pasting plate 43 through a visual camera, and based on the distance between the plane where the expansion hole target pasting plate 33 is located and the axis of the pin hole, as well as the distance between the plane where the pin holding target pasting plate 43 is located and the axis of the pin shaft, analyzing and calculating the spatial positions of the respective light spot targets, and obtaining the positions of the pin hole and the pin shaft.

[0093] S6, determine whether the positions of the pin hole and the pin shaft meet the requirements for automatic docking:

[0094] If satisfied, execute step S7;

[0095] If not satisfied, the positions of the front compartment section 1 and the rear compartment section 2 are corrected by the posture adjustment mechanism, and the process returns to re-execute step S5.

[0096] S7, remove the expansion hole type vision target 3 and the holding pin type vision target 4, pack them for storage, and complete this vision calibration.

[0097] The expansion hole type visual target 3 and the pin type visual target 4 in the embodiment of the present invention have a total of four parts, which can be packed together into a customized packaging box, and the size of the packaging box is greatly reduced compared with the previous customized packaging boxes of the targets.

[0098] The above content is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A split high-precision pin-expanding hole type visual calibration target, used for visual calibration of a front compartment (1) and a rear compartment (2); a pin hole is provided on a front section docking surface (11) of the front compartment (1); and a pin shaft corresponding to the pin hole is provided on a rear section docking surface (21) of the rear compartment (2); Features: It comprises at least two expansion hole type visual calibration targets (3) and at least two pin type visual calibration targets (4); The expansion hole type visual calibration target (3) comprises an expansion hole bracket (31), an expansion hole target pasting plate (33) arranged at one end of the expansion hole bracket (31), and an expansion hole positioning shaft (34) penetrating the other end of the expansion hole bracket (31) and threadedly matched with the expansion hole bracket; one end of the expansion hole positioning shaft (34) is sequentially sleeved with an expansion sleeve top cone (36) and a spring expansion sleeve (35) from the outside to the inside, and the other end is provided with an expansion hole tightening knob (32); the plane where the expansion hole target pasting plate (33) is located is parallel to the axis of the pin hole; the spring expansion sleeve (35) is used to expand and tighten the pin hole; One end of the expansion hole positioning shaft (34) is provided with a first outer cone (341) with the small end facing inward, and the top cone (36) of the expansion sleeve is provided with a second outer cone (361) facing the end; both ends of the spring expansion sleeve (35) are provided with inner cones, which respectively cooperate with the first outer cone (341) and the second outer cone (361) to form a double-bevel positioning; The pin-holding type visual calibration target (4) comprises a pin-holding bracket (41), a pin-holding target pasting plate (43) arranged at one end of the pin-holding bracket (41), and a pin-holding positioning bracket (45) penetrated through the other end of the pin-holding bracket (41); a spring clamping sleeve (44) is embedded in the through hole of the pin-holding positioning bracket (45), and the spring clamping sleeve (44) is used to clamp the pin shaft; the plane where the pin-holding target pasting plate (43) is located is parallel to the axis of the pin shaft; One end of the pin holding and positioning bracket (45) is provided with a first inner conical surface (451), and the other end is provided with a pin holding and tightening knob (42); the connecting end of the pin holding and tightening knob (42) extends into the through hole of the pin holding and positioning bracket (45) and is threadedly matched therewith, and the end of the connecting end is provided with a second inner conical surface (421); the through hole diameter of the pin holding and tightening knob (42) is larger than the through hole diameter of the spring holding and tightening sleeve (44), and the two are coaxially arranged; both ends of the spring holding and tightening sleeve (44) are provided with outer conical surfaces, which respectively match the first inner conical surface (451) and the second inner conical surface (421) to form double inclined surface positioning.

2. According to claim 1, a split high-precision pin-holding expansion hole type visual calibration target is characterized by: A threaded back plate (37) is provided on one side of the expansion hole bracket (31) close to the expansion hole tightening knob (32), and the threaded back plate (37) is provided with a back plate threaded hole (371) coaxial with the through hole of the expansion hole bracket (31); The middle part of the expansion hole positioning shaft (34) is provided with a positioning shaft external thread (342), and the positioning shaft external thread (342) cooperates with the back plate threaded hole (371) to form a thread pair; The other end of the pin positioning bracket (45) is provided with a bracket internal thread (452), and the middle part of the connecting end of the pin tightening knob (42) is provided with a knob external thread (422), and the knob external thread (422) cooperates with the bracket internal thread (452) to form a thread pair.

3. A split high-precision pin-holding expansion hole type visual calibration target according to claim 2, characterized in that: The external thread (342) of the positioning shaft and the threaded hole (371) of the back plate are both reverse threads.

4. According to claim 3, a split high-precision pin-holding expansion hole type visual calibration target is characterized by: The expansion hole bracket (31) is provided with a top cone groove on a side away from the expansion hole tightening knob (32), and is provided with a top cone mounting groove which is radial and communicated with the top cone groove, and the expansion sleeve top cone (36) is embedded in the top cone groove and fixed by a top screw arranged in the top cone mounting groove; The other end of the expansion hole positioning shaft (34) extends into the through hole of the expansion hole tightening knob (32), and a tightening plane is provided on the other end; a radial through groove connected to the through hole is provided at the connecting end of the expansion hole tightening knob (32), and the tightening plane of the other end of the expansion hole positioning shaft (34) is tightened and fixed by a top screw arranged in the through groove.

5. A split high-precision pin-holding expansion hole type visual calibration target according to any one of claims 1 to 4, characterized in that: The expansion hole bracket (31) is a straight rod, which is perpendicular to the plane where the expansion hole target pasting plate (33) is located and the axis of the pin hole; The pin holding bracket (41) is a straight rod, which is perpendicular to the plane where the pin holding target pasting plate (43) is located and the axis of the pin shaft.

6. A split type high-precision pin-holding expansion hole type visual calibration target according to claim 1, characterized in that: The spring expansion sleeve (35) is a cylindrical structure with inner conical surfaces at both ends, and elastic grooves are alternately opened at both ends along the circumferential direction toward the other end, so that the cylindrical structure forms a continuous S-shaped elastic structure along the circumferential direction; The spring clamping sleeve (44) is a cylindrical structure with outer conical surfaces at both ends, and elastic grooves facing the other end are alternately opened at both ends along the circumferential direction, so that the cylindrical structure forms a continuous S-shaped elastic structure along the circumferential direction.

7. A split type high-precision pin-holding expansion hole type visual calibration target according to claim 6, characterized in that: An annular air cavity (453) is provided in the middle of the through hole of the pin-holding positioning bracket (45), and the position of the air cavity (453) corresponds to the maximum diameter position of the spring holding sleeve (44).

8. A split high-precision pin-holding expansion hole type visual calibration target according to claim 7, characterized in that: The outer periphery of the pin holding bracket (45) is provided with a mounting boss (454), and the mounting boss (454) is fixed to the other end of the pin holding bracket (41) by means of screws.

9. A split type high-precision pin-holding and hole-expanding visual calibration method, implemented by using the split type high-precision pin-holding and hole-expanding visual calibration target described in any one of claims 1 to 8, characterized in that: The following steps are involved: S1, build an automatic docking system; The automatic docking system comprises a posture adjustment mechanism, a visual camera, an expansion hole type visual target (3) and a pin holding type visual target (4); the expansion hole type visual target (3) is used to center and position the pin hole on the front section docking surface (11), and the pin holding type visual target (4) is used to center and position the pin shaft on the rear section docking surface (21); the number of the expansion hole type visual target (3) and the pin holding type visual target (4) respectively corresponds to the number of the pin hole and the pin shaft; S2, placing the front cabin section (1) and the rear cabin section (2) on the posture adjustment mechanism respectively, so that the front section docking surface (11) and the rear section docking surface (21) correspond to each other; S3, pasting corresponding light spot targets on the expansion hole target pasting plate (33) of the expansion hole type visual target (3) and the holding pin target pasting plate (43) of the holding pin type visual target (4); S4, installing the expansion hole type visual target (3) in the pin hole; installing the pin holding type visual target (4) on the pin shaft; S5, photographing the light spot targets of the expansion hole target pasting plate (33) and the pin holding target pasting plate (43) by a visual camera, analyzing and calculating the spatial positions of the respective light spot targets based on the distance between the plane where the expansion hole target pasting plate (33) is located and the axis of the pin hole, and the distance between the plane where the pin holding target pasting plate (43) is located and the axis of the pin shaft, and obtaining the positions of the pin hole and the pin shaft; S6, determine whether the positions of the pin hole and the pin shaft meet the requirements for automatic docking: If satisfied, proceed to step S7; If not, the positions of the front compartment (1) and the rear compartment (2) are corrected by the posture adjustment mechanism, and the process returns to step S5; S7, remove the expansion hole type vision target (3) and the pin type vision target (4), pack them for storage, and complete the vision calibration.

10. A split type high-precision pin-expanding hole type visual calibration method according to claim 9, characterized in that: Step S4 is specifically as follows: S4-1, inserting the expansion hole positioning shaft (34) of the expansion hole type visual target (3) into the pin hole; S4-2, rotating the expansion hole tightening knob (32) to move the expansion hole positioning shaft (34) in a direction away from the pin hole, thereby causing the first outer conical surface (341) to move in a direction away from the pin hole, and cooperating with the second outer conical surface (361) to squeeze the inner conical surfaces at both ends of the spring expansion sleeve (35); S4-3, the spring expansion sleeve (35) is deformed and expanded by force to center the pin hole; S4-4, sleeve the spring clamping sleeve (44) of the pin-holding type visual target (4) onto the pin shaft; S4-5, rotating the pin tightening knob (42) so that the pin tightening knob (42) moves toward the direction close to the pin shaft, thereby causing the first inner conical surface (451) to move toward the direction close to the pin shaft, and cooperating with the second inner conical surface (421) to squeeze the outer conical surfaces at both ends of the spring tightening sleeve (44); S4-6, the spring clamping sleeve (44) is deformed by force, and the pin shaft is centered and positioned.

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