Adaptive virtual-physical registration positioning device
The adaptive virtual-real registration positioning device achieves high-precision positioning on complex curved surfaces by using a mounting plate, positioning card, and universal adjustment mechanism. This solves the problems of unstable fixation and high cost in traditional methods, and improves the accuracy and ease of operation of virtual-real registration.
Patent Information
- Application Number
- CN202522529121.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-28
- Publication Date
- 2026-11-03
- Estimated Expiration
- 2035-11-28
AI Technical Summary
Existing technologies struggle to achieve high-precision virtual-real registration on complex curved surfaces. Traditional fixing methods are unstable, costly, lack versatility and convenience, and cannot meet the high-precision assembly needs of fields such as aviation and shipbuilding.
An adaptive virtual-real registration and positioning device is adopted, including a mounting plate, positioning card, universal adjustment mechanism and vacuum suction cup. Initial positioning is achieved by positioning pin, universal adjustment mechanism adaptively conforms to curved surface, vacuum suction cup firmly adsorbs, and high-precision positioning is achieved by combining visual registration.
Achieving robust and reliable adaptive fixation on complex curved surfaces ensures stable positioning points, improves the accuracy of virtual-real registration, reduces costs and operational complexity, adapts to workpieces with different curvatures and sizes, and simplifies the workflow.
Smart Images
Figure CN224927800U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to virtual real registration positioning technical field especially, it relates to adaptive virtual real registration positioning device. BACKGROUND
[0002] The virtual real registration in augmented reality technology aims at seamlessly and accurately superimposing computer-generated virtual information into the real physical world, and its accuracy and stability are the key to determine whether the technology can be applied in the industrial field.
[0003] The registration method based on artificial markers has become the mainstream scheme close to practical application due to its high reliability in controllable environment. The core of this scheme is that a physical coordinate system reference point with stable position and attitude and known in the real space is needed. However, in the fields of aviation and shipbuilding, there are a large number of workpieces with complex curvature such as aircraft cabin bodies and fuel tank curved surfaces. The traditional marker fixing method faces serious challenges on such curved surfaces. The existing technology usually adopts the way of directly pasting markers or using simple rigid clamps. The former is difficult to ensure that the markers are fully attached to the curved surface, and the latter lacks the necessary adaptive adjustment capability, resulting in displacement or angular deflection of the markers in the assembly vibration. This makes the coordinate system reference established by the AR system misaligned, and finally causes serious problems such as virtual model drift and jitter, which cannot meet the needs of high-precision assembly guidance.
[0004] The limitations of the existing fixing method not only lie in the instability of the physical layer, but also in the serious lack of economy and universality. When facing workpieces with different curvatures, the industry sometimes adopts special positioning tooling tailored for specific workpieces to ensure the accuracy of fixing. However, this "one-size-fits-all" solution leads to a sharp rise in production costs and a significant extension of the research and development cycle, which is contrary to the concept of flexible and rapid response pursued by modern intelligent manufacturing.
[0005] In addition, another idea is to draw on high-end automated tooling, which integrates precise universal swing mechanisms and sensor feedback systems to achieve complex adaptive attitude adjustment. However, such devices are usually complex in structure, large in size, high in cost, and dependent on external power and control units, which greatly limits their popularity and application in most AR application scenarios that require flexible deployment and rapid response (such as on-site maintenance and temporary quality inspection), and lacks the convenience and economy required as a general-purpose tool. UTILITY MODEL CONTENTS
[0006] Therefore, the technical problem to be solved by the utility model is to provide an adaptive virtual real registration positioning device that can achieve accurate positioning on various curved surfaces and flexibly adapt to different workpieces through adaptive mechanical structures to achieve stable registration positioning.
[0007] To solve the above technical problems, the technical scheme of the utility model is
[0008] The adaptive virtual-actual registration positioning device comprises:
[0009] The mounting plate is internally detachably mounted with a positioning card in the same plane, the mounting plate and the positioning card are circular structures and are concentrically arranged, at least one end surface of the positioning card is provided with a registration positioning point, and the registration positioning point is located at the center of the positioning card.
[0010] One end surface of the mounting plate is provided with a through hole for displaying the registration positioning point, the outer side of the through hole is provided with a plurality of perspective windows of fan-shaped structures, the perspective windows are arranged through the mounting plate, the center of the perspective window is concentric with the center of the mounting plate, the other end surface of the mounting plate is detachably mounted with a positioning needle arranged perpendicularly thereto, and the positioning needle is located at the center of the mounting plate.
[0011] A plurality of universal adjusting mechanisms are equidistantly arranged along the circumference of the mounting plate, the connecting end of the universal adjusting mechanism is hinged to the mounting plate, the adjusting end of the universal adjusting mechanism is mounted with an arc-shaped plate, the vacuum chuck of the arc-shaped plate is adjustably mounted, and the vacuum chuck is used for adsorbing the surface of a registration object.
[0012] Preferably, the number of the universal adjusting mechanisms is three, three hinged ears are integrally formed on the mounting plate and equidistantly arranged along the circumference of the mounting plate, and one hinged ear is hinged to the connecting end of one universal adjusting mechanism.
[0013] Preferably, a jack is arranged between two hinged ears and communicates with the inside of the mounting plate, and the positioning card is placed in the inside of the mounting plate through the jack.
[0014] Preferably, the universal adjusting mechanism comprises an adjusting body, one end of the adjusting body is fixedly connected with a hinged rod, the other end of the adjusting body is connected with a spherical rod, and the end of the spherical rod is mounted with the arc-shaped plate.
[0015] Preferably, the adjusting body is provided with a locking nut, and the locking nut is used for fixing the spherical rod after the spherical rod is adjusted to a target posture.
[0016] Preferably, the arc-shaped plate is provided with a chuck mounting hole arranged along the length direction of the arc-shaped plate, and the vacuum chuck is mounted on the arc-shaped plate through the chuck mounting hole.
[0017] Preferably, the positioning needle is a telescopic positioning needle with adjustable length.
[0018] After adopting the above technical solution, the beneficial effects of this utility model are:
[0019] The adaptive virtual-real registration and positioning device of this application includes a mounting plate and several universal adjustment mechanisms. The mounting plate has a detachable positioning card coplanar with it. Both the positioning card and the mounting plate are circular and concentrically arranged. At least one end face of the positioning card has a registration and positioning point located at the center of the card. One end face of the mounting plate has a through hole for displaying the registration and positioning point. Several fan-shaped viewing windows are provided outside the through hole, penetrating the mounting plate. The center of the viewing windows is concentric with the center of the mounting plate. A positioning pin is detachably mounted perpendicularly to the other end face of the mounting plate, located at the center of the plate. Several universal adjustment mechanisms are equidistantly arranged along the circumference of the mounting plate. The connecting end of each universal adjustment mechanism is hinged to the mounting plate. An arc-shaped plate is mounted on the adjusting end of each universal adjustment mechanism, and an adjustable vacuum suction cup is mounted on the arc-shaped plate. The vacuum suction cup is used to adhere to the surface of the object to be registered.
[0020] During the initial placement of the device on the target curved surface (registration object), a positioning pin located at the center of the mounting plate mates with the registration position on the curved surface, enabling rapid and rough pre-positioning of the device. The point where the positioning pin touches is the registration point on the curved surface that the augmented reality device needs to position. Subsequently, multiple universal adjustment mechanisms distributed around the circumference of the mounting plate begin to function. When the vacuum suction cups at their ends contact the curved surface, each universal adjustment mechanism can independently oscillate, causing the curved plate and its vacuum suction cups to adaptively conform to the local contour of the curved surface. This process stably supports the mounting plate and its core components. Finally, negative pressure is applied to the vacuum suction cups, using atmospheric pressure to firmly adhere the entire device to the workpiece surface, completing a stable physical fixation.
[0021] After the device is fixed to the curved surface, two key coordinate system references are established. The first is the mechanical positioning reference, which consists of multiple suction cup support points in direct contact with the curved surface and a central positioning pin, forming a stable physical platform. The second is the visual registration reference, namely the registration point on the positioning card exposed through a through-hole in the mounting plate. By identifying this registration point precisely located at the center of the mounting plate and combining it with its known physical dimensions and the curvature of the curved surface, the augmented reality device's camera can calculate the precise relative position and orientation between the camera and the registration point on the curved surface. This allows for high-precision alignment of the virtual coordinate system with the real-world coordinate system, completing virtual-real registration.
[0022] This application utilizes the synergistic effect of multiple universal adjustment mechanisms and vacuum suction cups to achieve robust and reliable adaptive fixation on various complex curved surfaces. This ensures the absolute stability of the registration points on the positioning card and prevents displacement or vibration of the entire device during operation, thus providing a high-precision physical basis for virtual-real registration. Secondly, its innovative mechanical structure endows the device with excellent versatility and adaptability. One device can handle workpiece surfaces of different curvatures and sizes, effectively avoiding the high costs, long development cycles, and cumbersome management issues associated with custom-made tooling for specific workpieces in traditional solutions. Furthermore, the fan-shaped viewing window facilitates observation of the positioning pin's accuracy, improving positioning precision. Finally, the device highly integrates coarse positioning, fine attitude adjustment, strong fixation, and visual calibration functions, enabling rapid deployment and "one-click" operation. This significantly simplifies the workflow, reduces the technical requirements for operators, and comprehensively improves the overall efficiency and economy of downstream augmented reality-assisted operations. Attached Figure Description
[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.
[0024] Figure 1 This is a schematic diagram of the structure of the adaptive virtual-real registration and positioning device according to an embodiment of the present invention;
[0025] Figure 2 yes Figure 1 Exploded view;
[0026] Figure 3 This is a schematic diagram of the state when the adaptive virtual-real registration and positioning device of this utility model is applied to a curved surface;
[0027] Figure 4 This is a top-view diagram showing the usage status of the adaptive virtual-real registration and positioning device according to an embodiment of this utility model.
[0028] In the picture:
[0029] 1. Mounting plate; 11. Through hole; 12. Viewing window; 13. Hinge lug; 14. Socket;
[0030] 2. Positioning card; 21. Registration and positioning points;
[0031] 3. Positioning pin;
[0032] 4. Universal adjustment mechanism; 41. Adjustment body; 42. Hinge rod; 43. Ball joint rod; 44. Locking nut;
[0033] 5. Curved plate; 51. Suction cup mounting hole;
[0034] 6. Vacuum suction cup;
[0035] 7. Register the object;
[0036] 8. Augmented reality devices. Detailed Implementation
[0037] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.
[0038] like Figures 1 to 4 As shown in the figure, this utility model includes a mounting plate 1 and several universal adjustment mechanisms 4.
[0039] The mounting plate 1 has a detachable positioning card 2 mounted on the same plane. Both the positioning card 2 and the mounting plate 1 are circular and concentrically arranged. At least one end face of the positioning card 2 is provided with a registration and positioning point 21, which is located at the center of the positioning card 2. Preferably, the positioning card 2 is provided with a registration and positioning point 21 on both end faces, so that the positioning card 2 can be placed directly without distinguishing between the end faces.
[0040] A through hole 11 for displaying the registration and positioning point 21 is provided on one end face of the mounting plate 1. Several fan-shaped viewing windows 12 are provided on the outside of the through hole 11. The viewing windows 12 are provided through the mounting plate 1. The center of the viewing window 12 is concentric with the center of the mounting plate 1. A positioning pin 3 is detachably installed on the other end face of the mounting plate 1 and is perpendicular to it. The positioning pin 3 is located at the center of the mounting plate 1.
[0041] Several universal adjustment mechanisms 4 are equidistantly arranged along the circumference of the mounting plate 1. The connecting end of the universal adjustment mechanism 4 is hinged to the mounting plate 1. An arc-shaped plate 5 is installed on the adjusting end of the universal adjustment mechanism 4. An adjustable vacuum suction cup 6 is installed on the arc-shaped plate 5. The vacuum suction cup 6 is used to adhere to the surface of the registration object 7. Preferably, the vacuum suction cup 6 is a double-layer vacuum suction cup, which can meet the requirements of adsorption on curved surfaces.
[0042] During the initial placement of the device on the curved surface of the registration object 7, the positioning pin 3, located at the center of the mounting plate 1, engages with the registration position on the curved surface to achieve rapid and rough pre-positioning of the device. Specifically, the point where the tip of the positioning pin 3 touches is the registration point on the curved surface that the augmented reality device needs to be positioned. Subsequently, multiple universal adjustment mechanisms 4 distributed around the circumference of the mounting plate 1 begin to function. When the vacuum suction cup 6 at its end contacts the curved surface, each universal adjustment mechanism 4 can independently oscillate, causing the arc-shaped plate 5 and its vacuum suction cup 6 to adaptively conform to the local contour of the curved surface. This process stably supports the mounting plate 1 and its core components. Finally, negative pressure is applied to the vacuum suction cup 6, using atmospheric pressure to firmly adhere the entire device to the curved surface of the registration object 7, completing a stable physical fixation. Of course, applying negative pressure to the vacuum suction cup 6 is achieved through an external vacuum device, which is well-known technology to those skilled in the art; therefore, its working principle will not be described in this application.
[0043] After the device is fixed to the curved surface, two key coordinate system references are established. The first is the mechanical positioning reference, which consists of multiple suction cup support points in direct contact with the curved surface and the central positioning pin 3, forming a stable physical platform. The second is the visual registration reference, namely the registration positioning point 21 on the positioning card 2 exposed through the through hole 11 on the mounting plate 1. By identifying this registration positioning point 21, precisely located at the center of the mounting plate 1, and combining its known physical dimensions and the curvature of the curved surface, the augmented reality device's camera can calculate the precise relative position and orientation between the camera and the registration point on the curved surface. This allows for high-precision alignment of the virtual coordinate system with the real-world coordinate system, completing virtual-real registration.
[0044] Of course, this embodiment uses a curved surface as an example, but it is not limited to curved surfaces. For flat surfaces, they can also be registered and positioned after being adsorbed and fixed by a vacuum suction cup 6.
[0045] This application utilizes the synergistic effect of multiple universal adjustment mechanisms 4 and vacuum suction cups 6 to achieve robust and reliable adaptive fixation on various complex curved surfaces. This ensures the absolute stability of the registration positioning point 21 on the positioning card 2 and prevents displacement or vibration of the entire device during operation, thus providing a high-precision physical basis for virtual-real registration. Secondly, its innovative mechanical structure endows the device with excellent versatility and adaptability. One device can handle workpiece surfaces with different curvatures and sizes, effectively avoiding the problems of high cost, long cycle, and cumbersome management caused by custom-made tooling for specific workpieces in traditional solutions. In addition, the fan-shaped viewing window 12 facilitates observation of the positioning accuracy of the positioning pin 3, improving positioning accuracy. Finally, the device highly integrates coarse positioning, fine attitude adjustment, strong fixation, and visual calibration functions, achieving rapid deployment and "one-click" operation, significantly simplifying the workflow, reducing the technical requirements for operators, and thus comprehensively improving the overall efficiency and economy of downstream augmented reality-assisted operations.
[0046] In this application, there are three universal adjustment mechanisms 4. Three hinge ears 13 are integrally formed on the mounting plate 1. The three hinge ears 13 are equidistantly arranged along the circumference of the mounting plate 1. One hinge ear 13 is hinged to the connecting end of one universal adjustment mechanism 4, thereby forming a stable three-point support structure. This triangular symmetrical layout effectively ensures the mechanical balance and attitude stability of the device when adsorbing on curved surfaces.
[0047] Among them, an insertion hole 14 communicating with the inside of the mounting plate 1 is provided between the two hinge ears 13. The positioning card 2 is placed inside the mounting plate 1 through the insertion hole 14. The insertion hole 14 serves as the assembly channel for the positioning card 2, allowing the operator to accurately insert the positioning card 2 into the inside of the mounting plate 1 and ensure that it is in the preset working position.
[0048] To effectively prevent the positioning card 2 from accidentally slipping out of the insertion hole 14 during device use, this application provides an elastic limiting component on the inner wall of the insertion hole 14. This elastic limiting component consists of a stop made of high-performance foam or rubber material, which is fixed to the inner wall of the insertion hole 14 by adhesive bonding. When the positioning card 2 is pushed into the insertion hole 14, the stop elastically deforms to allow it to pass through; after the positioning card 2 reaches the predetermined position, the stop returns to its original shape due to the shape memory properties of the material, forming a reliable mechanical limit on the positioning card 2. This simple and effective anti-drop design ensures both the ease of installation of the positioning card 2 and its long-term operational reliability under complex working conditions.
[0049] In this application, the universal adjustment mechanism 4 includes an adjustment body 41, one end of which is fixedly connected to a hinge rod 42, and the other end of which is connected to a ball rod 43; an arc-shaped plate 5 is installed at the end of the ball rod 43. The end of the ball rod 43 is spherical, so it can rotate around its center to achieve universal adjustment.
[0050] Preferably, the adjusting body 41 is provided with a locking nut 44, which is used to fix the ball rod 43 after it is adjusted to the target posture. The position of the ball rod 43 is fixed by the locking nut 44, which also fixes the position of the mounting plate 1; that is, after the mounting plate 1 drives the positioning clip 2 and the positioning pin 3 to register and position, the positioning position is fixed by the vacuum suction cup 6 and the locking nut 44 to prevent the mounting plate 1 and the positioning pin 3 from shifting.
[0051] A suction cup mounting hole 51 is provided on the arc-shaped plate 5 along its length. The vacuum suction cup 6 passes through the suction cup mounting hole 51 and is mounted on the arc-shaped plate 5. The suction cup mounting hole 51 can cooperate with the vacuum suction cup 6 to adjust the position of the vacuum suction cup 6. Therefore, the vacuum suction cup 6 can be continuously adjusted along the axial direction of the arc-shaped plate 5, thereby achieving optimal adaptation to regions with different radii of curvature. Preferably, the overall curvature of the suction cup mounting hole 51 is precisely designed to match the curvature of the target surface. This geometric matching design ensures that the vacuum suction cup 6 can form a sufficient contact area with the workpiece surface at any installation position, effectively avoiding the loss of adsorption force due to local non-adhesion. This design improves the fixing effect on two levels: firstly, the adjustable position characteristic allows the device to flexibly arrange the adsorption points according to the surface characteristics; secondly, the preset curvature of the suction cup mounting hole 51 ensures that each adsorption point can achieve the best sealing state. This dual optimization design significantly improves the adsorption stability and reliability of the device on complex curved surfaces, providing a solid fixing foundation for subsequent precise registration.
[0052] Positioning pin 3 is a telescopic positioning pin with adjustable length. Its structure is similar to that of a telescopic antenna, employing a multi-section sleeve structure that allows for both manual stepless adjustment and rigid locking. This innovative structure effectively solves a key problem in curved surface registration: due to variations in surface curvature, the distances between each registration point and the mounting plate's reference surface differ. During registration, after coarse positioning of the mounting plate using the universal adjustment mechanism, the operator can precisely adjust the pin's length to ensure its tip accurately contacts the curved surface registration point. Fine adjustments are then made to ensure the pin's axis perfectly aligns with the augmented reality device's line of sight. This two-stage adjustment mechanism, combining attitude adjustment and pin length adjustment, compensates for positioning deviations caused by variations in surface curvature and avoids structural interference that might result from forced adjustments, significantly improving the device's adaptability and positioning accuracy for workpieces with different curvatures. Therefore, during adjustment via the universal adjustment mechanism 4, the length of positioning pin 3 can also be adjusted to achieve accurate positioning with the curved surface registration point.
[0053] like Figure 4As shown, the adaptive virtual-real registration and positioning device of this application, in use, first precisely aligns the tip of the positioning pin 3 with the registration point on the curved surface. At this time, the axis of the positioning pin 3 indicates the normal direction of the point. Then, the spatial attitude of the mounting plate 1 is adjusted so that the positioning pin 3 is collinear with the imaging axis of the augmented reality device 8, thereby ensuring that the plane of the mounting plate 1 is perpendicular to the axis. Under this ideal attitude, the registration and positioning point 21 of the positioning card 2 fixed in the mounting plate 1 coincides exactly with the imaging axis, thus achieving accurate registration without theoretical deviation. In contrast, if the traditional method of directly pasting the marker onto the curved surface is used, the flexible marker will bend and deform with the shape of the curved surface, causing the actual position of the registration point on its surface to deviate from the theoretical position. Even if it is successfully captured by the augmented reality device 8, it will introduce unavoidable systematic errors, affecting the final registration accuracy. Therefore, this application can achieve accurate positioning on various curved surfaces and achieve stable registration and positioning by flexibly adapting to different workpieces through an adaptive mechanical structure.
[0054] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. An adaptive virtual-real registration and positioning device, characterized in that, include: The mounting plate has a detachable positioning card that is on the same plane as it. Both the positioning card and the mounting plate are circular and concentric. At least one end face of the positioning card is provided with a registration and positioning point, which is located at the center of the positioning card. One end face of the mounting plate is provided with a through hole for displaying the registration and positioning point. A plurality of fan-shaped viewing windows are provided on the outside of the through hole. The viewing windows are provided through the mounting plate, and the center of the viewing windows is concentric with the center of the mounting plate. A positioning pin is detachably installed on the other end face of the mounting plate and is arranged perpendicular to it. The positioning pin is located at the center of the mounting plate. A plurality of universal adjustment mechanisms are arranged at equal intervals along the circumference of the mounting plate. The connecting end of each universal adjustment mechanism is hinged to the mounting plate. An arc-shaped plate is installed on the adjusting end of each universal adjustment mechanism. An adjustable vacuum suction cup is installed on the arc-shaped plate. The vacuum suction cup is used to adhere to the surface of the registration object.
2. The adaptive virtual-real registration and positioning device as described in claim 1, characterized in that, The number of universal adjustment mechanisms is three, and the mounting plate has three hinge ears integrally formed. The three hinge ears are equidistantly arranged along the circumference of the mounting plate; one hinge ear is hinged to the connecting end of one universal adjustment mechanism.
3. The adaptive virtual-real registration and positioning device as described in claim 2, characterized in that, A socket is provided between the two hinge ears to communicate with the interior of the mounting plate, and the positioning card is placed inside the mounting plate through the socket.
4. The adaptive virtual-real registration and positioning device as described in claim 1, characterized in that, The universal adjustment mechanism includes an adjustment body, one end of which is fixedly connected to a hinge rod, and the other end of which is connected to a ball rod; the end of the ball rod is fitted with the arc-shaped plate.
5. The adaptive virtual-real registration and positioning device as described in claim 4, characterized in that, The adjustment body is provided with a locking nut, which is used to fix the ball rod after it is adjusted to the target posture.
6. The adaptive virtual-real registration and positioning device as described in claim 1, characterized in that, The curved plate has suction cup mounting holes along its length, and the vacuum suction cup is mounted on the curved plate through the suction cup mounting holes.
7. The adaptive virtual-real registration and positioning device as described in claim 1, characterized in that, The positioning pin is a telescopic positioning pin with adjustable length.