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Double-shield six-degree-of-freedom measurement method and system based on monocular vision system

A technology of monocular vision and measurement methods, which is applied in the directions of measuring devices, measuring angles, photogrammetry/video metrology, etc. It can solve the problems of low environmental requirements, low measurement accuracy and poor efficiency of the attitude positioning system, and achieve environmental protection. The effect of low condition requirements, high measurement efficiency and measurement accuracy, and high system integration

Active Publication Date: 2021-03-19
江苏集萃智能光电系统研究所有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The invention provides a method for measuring the six degrees of freedom of dual shields based on a monocular vision system, which realizes posture positioning by using feature points with reflective characteristics, has low requirements on environmental conditions, and solves the problem of posture positioning of existing tunneling machine shield structures. The problem of low measurement accuracy and poor efficiency of the system

Method used

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  • Double-shield six-degree-of-freedom measurement method and system based on monocular vision system
  • Double-shield six-degree-of-freedom measurement method and system based on monocular vision system
  • Double-shield six-degree-of-freedom measurement method and system based on monocular vision system

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Embodiment 1

[0025] figure 1 It is a flow chart of a double-shield hexafa measurement method based on a single-eyed visual system, which is provided in the embodiment of the present invention. This embodiment can be applied to the relative sixth of the front shield and the back shield of the double shield. The degree of freedom information is measured, which can be performed by software and processors configured with a double shield hexafa measurement system.

[0026] figure 2 It is a structural diagram of a single visual system provided in the embodiment of the present invention.

[0027] Such as figure 2 As shown in the monocular vision system comprising a plurality of X-shaped features having reflective properties disposed in the rear end face of the front shield identification, monocular camera and an illumination source disposed on the backing front face, the front shield disposed coaxially with a first angle of inclination the second tilt sensor sensor arranged coaxially with the ba...

Embodiment 2

[0117] The second embodiment of the present invention provides a double-shield hexafa measurement system based on a single-visual visual system. Figure 6 It is a schematic structural diagram of a double shield hexafa measurement system based on a single visual system according to an embodiment of the present invention. This embodiment is applicable to application scenarios for measurement of relative hexafa information between the front shield of the double shield and the rear shield.

[0118] Such as Figure 6 As shown, the double shield hexafa measurement system 100 based on the single-visual system includes: a plurality of X-type feature identifier 10 having reflective characteristics of the front shield, disposed in a single-graphic camera 20 provided on the front end surface of the back shield 20 , The illumination light source 30 and the control module 40, the first inclination sensor 50 provided with the front shield coaxial, and the second inclination sensor 60 provided wit...

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Abstract

The invention discloses a double-shield six-degree-of-freedom measurement method and system based on a monocular vision system, the monocular vision system comprises an X-shaped feature identifier, amonocular camera, an illumination light source and an inclination angle sensor, and the method comprises the following steps: establishing a front shield coordinate system, a rear shield coordinate system and a measurement system coordinate system where the camera is located, and calibrating each coordinate system; acquiring image data of the X-type feature identifier acquired by the camera, and determining a two-dimensional coordinate of the X-type feature identifier in the image according to the image data; and performing PnP calculation according to the calibration coordinates of the plurality of X-shaped feature identifiers and the two-dimensional coordinates, determining a rotation and translation relationship of a front shield coordinate system relative to a measurement system coordinate system, and determining six-degree-of-freedom information of a front shield relative to a rear shield in combination with calibration results of the measurement system coordinate system and the rear shield coordinate system, and correcting the six-degree-of-freedom information according to the inclination angle data. According to the invention, the X-shaped optical characteristic identifier is arranged to carry the monocular camera and the tilt angle sensor for pose measurement, and the measurement precision is high.

Description

Technical field [0001] The present invention relates to the field of shield angular measurement techniques, and more particularly to a double-shield hexafa measurement method and system based on a single-visual visual system. Background technique [0002] Double Shield Hard Rock Tunnel Digging Machine is a tunneling machine using a shield method, and the double-shield hard rock tunneling machine includes front shield and backing, where the front shield sets the cutter disk and its drive, main bearing, etc. The body is provided with a support device, the front shield, and the back shield are connected by a telescopic cylinder, and the telescopic cylinder is extended with respect to the front and rear shield to achieve the front and rear shield, thereby achieving the front shield relative to the back shield, and the front and rear distance variation range can reach 3.5 m to 5 m. Double-shield hard rock tunnel drum can solve the problem of small radius turning tunnel, high rock stre...

Claims

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Application Information

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IPC IPC(8): G01C11/00G01C1/00G06T7/136G06T7/187G06T7/80
CPCG01C11/00G01C1/00G06T7/136G06T7/187G06T7/80G06T2207/30204
Inventor 黄磊
Owner 江苏集萃智能光电系统研究所有限公司
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