Monocular and binocular pose deviation measuring method used for cabin automatic docking

Abstract

The invention relates to a monocular and binocular pose deviation measuring method used for cabin automatic docking, comprising: respectively setting mark points on a cabin head and a cabin body; employing a binocular measuring device to respectively detect three-dimensional coordinates of the mark points of the cabin head and the cabin body in a world coordinate system; respectively obtaining images of the mark points of the cabin head and the cabin body; and calculating pose deviation. The method has the advantages of fast measuring speed, high precision and great practicality.

Description

technical field [0001] The invention belongs to the field of high-precision measurement of pose and posture, and relates to a single-eye and binocular high-precision and fast pose deviation measurement method for automatic docking of cabin sections. Background technique [0002] With the rapid development of aerospace and military manufacturing technology, higher requirements are put forward for the assembly accuracy and speed of components in the manufacturing process. Cabin docking is very common in the fields of aerospace and military manufacturing. At present, this work is mainly done manually in our country. Due to the large size of the docking parts of the cabin, the docking work often requires the cooperation of multiple people, that is, one observer observes the alignment status of the positioning pins and positioning holes at close range and from multiple perspectives, and gives deviation instructions based on the observation results , other cabin adjustment person...

AI Technical Summary

Problems solved by technology

For example, Yi Wangmin et al. used laser trackers to realize horizontal docking in large-scale cabin assembly (Journal: Computer Integrated Manufacturing System; publication date: September 2015; title: Horizontal docking technology in large-scale cabin assembly; page number: 2354 -2360), this method is relatively mature and can achieve high-precision measurement of cabin position and attitude, but this method has the following two disadvantages: 1) The laser tracker is very expensive, resulting in high docking costs, and it is difficult to apply to general docking Occasion; 2) This method needs to place a spherical target on the cabin, which is inconvenient to use

There are several problems in the above-mentioned scheme of binocular measurement to achieve docking: 1) Since only the three-dimensional position coordinates of the center point of the docking surface of the cabin can only be measured to ensure that the positions of the two cabins are aligned. Under the premise that the two attitudes cannot be accurately aligned, docking is difficult to achieve; 2) Due to the small limitation of the binocular field of view, this method is difficult to implement high-precision measurement of large cabins

[0004] The above analysis shows that low precision, slow speed, and poor practicability are the main problems existing in the current cabin pose measurement method

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