CN112222798A - Automatic installation method and device for large-scale component - Google Patents
Automatic installation method and device for large-scale component Download PDFInfo
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- 239000011159 matrix material Substances 0.000 claims abstract description 26
- 238000013459 approach Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 6
- 210000001503 joint Anatomy 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 11
- 238000003032 molecular docking Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 7
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- 238000003384 imaging method Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
The invention provides an automatic installation method and device for large components, which are used for accurately measuring, automatically adjusting and butt-jointing the relative pose of two butt-jointing surfaces in space, and solve the problem of automation of assembly of large components in a flexible manufacturing system. When the three-dimensional parallel laser range finder is used, the relative position and posture relation between the component and the butt joint plane can be determined by using the three parallel laser range finders, and the two planes are adjusted to be in a parallel state by the six-degree-of-freedom posture adjusting mechanism. And reading the data matrix code by using a camera, and acquiring the three-degree-of-freedom pose relationship of the component in the docking plane so as to adjust to the final docking attitude. And in the butt joint process of the components, the distance measuring instrument and the camera continue to perform whole-course real-time adjustment.
Description
Technical Field
The invention relates to the field of flexible manufacturing, in particular to an automatic installation method and device for a large component.
Background
At present, the assembly work of large parts is mostly carried out in a manual assembly mode in the field of large equipment production. The method has higher requirements on the proficiency and physical ability of operators, and has poorer repeatability and lower efficiency. Today, the degree of industrial automation is more and more developed, and the traditional manual mode cannot meet the requirements of high speed and high efficiency of the current industrial production.
Disclosure of Invention
The present invention aims to provide a method and apparatus for automated installation of large components which overcomes or at least partially solves the above mentioned problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
one aspect of the present invention provides an automatic installation method of a large component, including: providing a component, the component comprising: three relative laser range finders, two large-range variable-focus cameras and a six-degree-of-freedom adjusting system; wherein: three relative laser range finders include: the laser ranging system comprises a first laser range finder, a second laser range finder and a third laser range finder, wherein a straight line formed by the first laser range finder and the second laser range finder is perpendicular to a straight line formed by the first laser range finder and the third laser range finder; the two large-range variable-focus cameras comprise a first camera and a second camera, and planes of the first camera and the second camera are parallel to a plane formed by the first laser range finder, the second laser range finder and the third laser range finder; before automatic installation, setting a data matrix code target on target equipment; during automatic installation, a first laser range finder is used for acquiring first acquisition data, a second laser range finder is used for acquiring second acquisition data, a third laser range finder is used for acquiring third acquisition data, and the relative pose relation between the component and the target equipment installation surface is calculated by using the first acquisition data, the second acquisition data and the third acquisition data; identifying the data matrix code by using a first camera and a second camera to obtain the position of the data matrix code in the image, and calculating horizontal and vertical coordinates of a pixel point of a midpoint of the code in the image, wherein the horizontal and vertical coordinates comprise a first horizontal coordinate, a first vertical coordinate, a second horizontal coordinate and a second vertical coordinate; controlling the mounting equipment to carry the mounting component to approach the target equipment at a constant speed; controlling to simultaneously execute the step a, the step b and the step c; wherein: the step a comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first collected data and the second collected data to be reduced and enter a first preset difference value range, and the difference value between the first collected data and the third collected data to be reduced and enter a second preset difference value range; the step b comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the first abscissa and the first ordinate to enter a first preset error range of the target point; the step c comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first ordinate and the second ordinate to be reduced and enter a second preset error range; and controlling to stop the approach of the installation equipment by using first acquisition data acquired by the first laser range finder, returning to execute the step of controlling the installation equipment carrying the installation part to approach the target equipment at a constant speed, and controlling to execute the steps of the step a, the step b and the step c at the same time until entering an allowable error range at the same time.
Wherein, the method further comprises: when the camera is automatically installed, the focal lengths of the first camera and the second camera are adjusted by utilizing the first collected data, the second collected data and the third collected data.
Wherein, the method further comprises: before automatic installation, target values of the first laser range finder, the second laser range finder and the third laser range finder are found.
The six-degree-of-freedom adjusting system comprises a wheat wheel platform and three independent-degree-of-freedom devices or comprises a 6-degree-of-freedom robot.
In another aspect, the present invention provides an automatic installation apparatus for a large component, including: the setting module is used for setting components and setting a data matrix code target on the target equipment before automatic installation; the component comprises: three relative laser range finders, two large-range variable-focus cameras and a six-degree-of-freedom adjusting system; wherein: three relative laser range finders include: the laser ranging system comprises a first laser range finder, a second laser range finder and a third laser range finder, wherein a straight line formed by the first laser range finder and the second laser range finder is perpendicular to a straight line formed by the first laser range finder and the third laser range finder; the two large-range variable-focus cameras comprise a first camera and a second camera, and planes of the first camera and the second camera are parallel to a plane formed by the first laser range finder, the second laser range finder and the third laser range finder; the control module is used for acquiring first acquisition data by using the first laser range finder, acquiring second acquisition data by using the second laser range finder, acquiring third acquisition data by using the third laser range finder and calculating the relative pose relation between the component and the target equipment mounting surface by using the first acquisition data, the second acquisition data and the third acquisition data when the component is automatically mounted; identifying the data matrix code by using a first camera and a second camera to obtain the position of the data matrix code in the image, and calculating horizontal and vertical coordinates of a pixel point of a midpoint of the code in the image, wherein the horizontal and vertical coordinates comprise a first horizontal coordinate, a first vertical coordinate, a second horizontal coordinate and a second vertical coordinate; controlling the mounting equipment to carry the mounting component to approach the target equipment at a constant speed; controlling to simultaneously execute the step a, the step b and the step c; wherein: the step a comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first collected data and the second collected data to be reduced and enter a first preset difference value range, and the difference value between the first collected data and the third collected data to be reduced and enter a second preset difference value range; the step b comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the first abscissa and the first ordinate to enter a first preset error range of the target point; the step c comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first ordinate and the second ordinate to be reduced and enter a second preset error range; and controlling to stop the approach of the installation equipment by using first acquisition data acquired by the first laser range finder, returning to execute the step of controlling the installation equipment carrying the installation part to approach the target equipment at a constant speed, and controlling to execute the steps of the step a, the step b and the step c at the same time until entering an allowable error range at the same time.
Wherein, the device still includes: and the adjusting module is used for adjusting the focal lengths of the first camera and the second camera by utilizing the first collected data, the second collected data and the third collected data during automatic installation.
Wherein, the device still includes: and the calibration module is used for finding the target values of the first laser distance meter, the second laser distance meter and the third laser distance meter before automatic installation.
The six-degree-of-freedom adjusting system comprises a wheat wheel platform and three independent-degree-of-freedom devices or comprises a 6-degree-of-freedom robot.
Therefore, the automatic installation method and the device for the large-scale component are used for accurately measuring, automatically adjusting and butt-jointing the relative pose of the two butt-jointing surfaces in the space, and solve the problem of automation of assembly of the large-scale component in a flexible manufacturing system. When the three-dimensional parallel laser range finder is used, the relative position and posture relation between the component and the butt joint plane can be determined by using the three parallel laser range finders, and the two planes are adjusted to be in a parallel state by the six-degree-of-freedom posture adjusting mechanism. And reading the data matrix code by using a camera, and acquiring the three-degree-of-freedom pose relationship of the component in the docking plane so as to adjust to the final docking attitude. And in the butt joint process of the components, the distance measuring instrument and the camera continue to perform whole-course real-time adjustment.
Compared with the prior art, the invention has the beneficial effects that:
1. the automatic installation of large-scale components is realized, the labor is saved, and the efficiency is increased;
2. the method has longer identification distance and better end precision;
3. the method is simple to implement and avoids complex operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a flow chart of a method for automatically installing a large component according to an embodiment of the present invention;
fig. 2 is a schematic layout of a first laser range finder, a second laser range finder and a third laser range finder according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an arrangement relationship between a first camera and a second camera according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic large component mounting device according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Fig. 1 is a flowchart illustrating an automatic installation method of a large component according to an embodiment of the present invention, and referring to fig. 1, the automatic installation method of a large component according to an embodiment of the present invention includes:
s1, providing a component comprising: three relative laser range finders, two large-range variable-focus cameras and a six-degree-of-freedom adjusting system; wherein:
three relative laser range finders include: the laser ranging system comprises a first laser range finder, a second laser range finder and a third laser range finder, wherein a straight line formed by the first laser range finder and the second laser range finder is perpendicular to a straight line formed by the first laser range finder and the third laser range finder;
the two large-range variable-focus cameras comprise a first camera and a second camera, and planes of the first camera and the second camera are parallel to a plane formed by the first laser range finder, the second laser range finder and the third laser range finder.
Specifically, the implementation of the present invention mainly comprises the following components: (1) three relative laser range finders; (2) two large-range variable focal length cameras; (3) a six-degree-of-freedom adjustment system. Wherein the installation surface of the target device is (B), and the (B) is assumed to be vertical to the ground.
The three laser range finders are numbered as (1-1), (1-2) and (1-3). The detection directions of (1-1), (1-2) and (1-3) are parallel and same, and the detection directions are vertical to the plane (A) formed by (1-1), (1-2) and (1-3). The straight lines formed by the mounting positions (1-1) and (1-2) are perpendicular to the straight lines formed by the mounting positions (1-1) and (1-3). As shown in fig. 2.
The two large-range variable-focus cameras are numbered as (2-1) and (2-2). The camera planes of (2-1) and (2-2) are parallel to (A). As shown in fig. 3.
As an optional implementation manner of the embodiment of the present invention, the method for automatically installing a large component according to the embodiment of the present invention further includes: before automatic installation, target values of the first laser range finder, the second laser range finder and the third laser range finder are found. Specifically, manual teaching may be performed to align the sensor target value before automatic mounting. The allowable error range in the automatic installation process is specified according to the target value so as to avoid the convergence.
As an optional implementation provided by the embodiment of the present invention, the six-degree-of-freedom adjustment system includes a microphone platform and three independent-degree-of-freedom devices, or includes a 6-degree-of-freedom robot.
And S2, setting a data matrix code target on the target equipment before automatic installation.
Specifically, before use, a data matrix code target needs to be installed on (B) of the target device so as to facilitate identification of (2-1) and (2-2), and meanwhile, all sensor data are guaranteed to be valid.
And S3, during automatic installation, acquiring first acquisition data by using a first laser range finder, acquiring second acquisition data by using a second laser range finder, acquiring third acquisition data by using a third laser range finder, and calculating the relative position and orientation relation between the component and the target equipment installation surface by using the first acquisition data, the second acquisition data and the third acquisition data.
Specifically, when the automatic installation is started, the relative pose relationship between the component and the target device installation surface is calculated by using the three data collected in (1-1), (1-2) and (1-3), as shown in fig. 2. The collected data is l1 (1-1), l2 (1-2) and l3 (1-3).
And S4, identifying the data matrix code by using the first camera and the second camera, obtaining the position of the data matrix code in the image, and calculating the horizontal and vertical coordinates of the midpoint of the code in the pixel point of the image, wherein the horizontal and vertical coordinates comprise a first horizontal coordinate and a first vertical coordinate, and a second horizontal coordinate and a second vertical coordinate.
Specifically, (2-1) and (2-2) identifying the data matrix will obtain the position of the data matrix code in the image, and the horizontal and vertical coordinates of the pixel points of the code midpoint in the image can be calculated as (x1, y1), (x2, y2), respectively.
S5, controlling the mounting device to carry the mounting component to approach the target device at a constant speed, and controlling to execute the step a, the step b and the step c simultaneously; wherein:
the step a comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first collected data and the second collected data to be reduced and enter a first preset difference value range, and the difference value between the first collected data and the third collected data to be reduced and enter a second preset difference value range;
the step b comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the first abscissa and the first ordinate to enter a first preset error range of the target point;
the step c comprises the following steps: and adjusting the six-degree-of-freedom adjusting system to reduce the difference value between the first ordinate and the second ordinate and enter a second preset error range.
Specifically, after the sensor data is obtained, the mounting device carries the mounting component to extend to approach the target device at a constant speed, and the following steps are performed:
a. and (3) adjusting the six-degree-of-freedom adjusting system to enable the difference value between l1 and l2 and the difference value between l1 and l3 to be reduced continuously until the difference values are within the specified difference value range, and then (A) and (B) are determined to be parallel.
b. And (3) adjusting the six-degree-of-freedom adjusting system to enable the (x1, y1) to be continuously close to the teaching specified point until the specified error range is reached, namely, the adjustment of the horizontal and vertical coordinate position in the (A) plane is determined to be completed.
c. And (3) adjusting the six-degree-of-freedom adjusting system to enable the difference value between y1 and y2 to be continuously reduced until the difference value is within a specified error range, namely, the rotation posture in the (A) plane is considered to be adjusted.
And (c) simultaneously performing the steps a, b and c in the whole butt joint process. And in the process that the installation equipment approaches the target equipment, the variable values continuously enter and leave a specified error range, but the variable values are always close to the set pose.
And S6, controlling to stop the approach of the installation equipment by using the first collected data acquired by the first laser range finder, returning to execute the step of controlling the installation equipment carrying the installation component to approach the target equipment at a constant speed, and controlling to execute the steps of the step a, the step b and the step c simultaneously until entering an allowable error range simultaneously.
Specifically, in the process of controlling the mounting device carrying the mounting component to move towards the target device at a constant speed, the process is not a monotonous change process, the calculated values of the steps a to c repeatedly enter and leave the preset range due to the influence of the ground surface fluctuation in the whole approaching process, but generally change around the respective target ranges, after the final approaching to a final position, the values of the steps a to c are not influenced by the ground surface fluctuation, and finally enter an allowable error range at the same time, and then the automatic docking mounting is considered to be successful.
Finally, the approach of the installation equipment is stopped by using the collected value of (1-1), and the steps from a to c are continuously adjusted, and the allowable error range is ensured to be simultaneously entered.
As an optional implementation manner of the embodiment of the present invention, the method for automatically installing a large component according to the embodiment of the present invention further includes: when the camera is automatically installed, the focal lengths of the first camera and the second camera are adjusted by utilizing the first collected data, the second collected data and the third collected data.
Specifically, as the equipment is getting closer, the data matrix target has larger and larger imaging in (2) two cameras with large-range variable focal length, thereby resulting in continuous improvement of the end precision. And in order to ensure clear imaging, in the installation process, along with the continuous reduction of the distance, the focal lengths of the two large-range variable-focus cameras need to be continuously adjusted according to the values of (1) the three relative laser range finders and (2).
Therefore, the automatic installation method of the large-scale component is used for accurate measurement, automatic adjustment and butt joint assembly of the relative pose of the two butt joint surfaces in the space, and solves the automation problem of assembly of the large-scale component in a flexible manufacturing system. When the three-dimensional parallel laser range finder is used, the relative position and posture relation between the component and the butt joint plane can be determined by using the three parallel laser range finders, and the two planes are adjusted to be in a parallel state by the six-degree-of-freedom posture adjusting mechanism. And reading the data matrix code by using a camera, and acquiring the three-degree-of-freedom pose relationship of the component in the docking plane so as to adjust to the final docking attitude. And in the butt joint process of the components, the distance measuring instrument and the camera continue to perform whole-course real-time adjustment.
Compared with the prior art, the invention has the beneficial effects that:
1. the automatic installation of large-scale components is realized, the labor is saved, and the efficiency is increased;
2. the method has longer identification distance and better end precision;
3. the method is simple to implement and avoids complex operation.
Fig. 4 is a schematic structural diagram of an automatic large component mounting device according to an embodiment of the present invention, in which the above method is applied, and the following is a brief description of the structure of the automatic large component mounting device, and other matters are not at all, please refer to the description related to the above automatic large component mounting method, and referring to fig. 4, the automatic large component mounting device according to an embodiment of the present invention includes:
the setting module is used for setting components and setting a data matrix code target on the target equipment before automatic installation; the component comprises: three relative laser range finders, two large-range variable-focus cameras and a six-degree-of-freedom adjusting system; wherein: three relative laser range finders include: the laser ranging system comprises a first laser range finder, a second laser range finder and a third laser range finder, wherein a straight line formed by the first laser range finder and the second laser range finder is perpendicular to a straight line formed by the first laser range finder and the third laser range finder; the two large-range variable-focus cameras comprise a first camera and a second camera, and planes of the first camera and the second camera are parallel to a plane formed by the first laser range finder, the second laser range finder and the third laser range finder;
the control module is used for acquiring first acquisition data by using the first laser range finder, acquiring second acquisition data by using the second laser range finder, acquiring third acquisition data by using the third laser range finder and calculating the relative pose relation between the component and the target equipment mounting surface by using the first acquisition data, the second acquisition data and the third acquisition data when the component is automatically mounted; identifying the data matrix code by using a first camera and a second camera to obtain the position of the data matrix code in the image, and calculating horizontal and vertical coordinates of a pixel point of a midpoint of the code in the image, wherein the horizontal and vertical coordinates comprise a first horizontal coordinate, a first vertical coordinate, a second horizontal coordinate and a second vertical coordinate; controlling the mounting equipment to carry the mounting component to approach the target equipment at a constant speed; controlling to simultaneously execute the step a, the step b and the step c; wherein: the step a comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first collected data and the second collected data to be reduced and enter a first preset difference value range, and the difference value between the first collected data and the third collected data to be reduced and enter a second preset difference value range; the step b comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the first abscissa and the first ordinate to enter a first preset error range of the target point; the step c comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first ordinate and the second ordinate to be reduced and enter a second preset error range; and controlling to stop the approach of the installation equipment by using first acquisition data acquired by the first laser range finder, returning to execute the step of controlling the installation equipment carrying the installation part to approach the target equipment at a constant speed, and controlling to execute the steps of the step a, the step b and the step c at the same time until entering an allowable error range at the same time.
As an optional implementation manner of the embodiment of the present invention, the automatic installation apparatus for a large component according to the embodiment of the present invention further includes: and the adjusting module is used for adjusting the focal lengths of the first camera and the second camera by utilizing the first collected data, the second collected data and the third collected data during automatic installation.
The automatic installation device for the large-scale component provided by the embodiment of the invention further comprises: and the calibration module is used for finding the target values of the first laser distance meter, the second laser distance meter and the third laser distance meter before automatic installation.
As an alternative implementation of the embodiment of the present invention, the six-degree-of-freedom adjustment system includes a microphone platform plus three independent-degree-of-freedom devices, or includes a 6-degree-of-freedom robot.
Therefore, the automatic installation device for the large-scale component is used for accurately measuring, automatically adjusting and butt-jointing the relative pose of the two butt-jointing surfaces in the space, and solves the automation problem of the assembly of the large-scale component in a flexible manufacturing system. When the three-dimensional parallel laser range finder is used, the relative position and posture relation between the component and the butt joint plane can be determined by using the three parallel laser range finders, and the two planes are adjusted to be in a parallel state by the six-degree-of-freedom posture adjusting mechanism. And reading the data matrix code by using a camera, and acquiring the three-degree-of-freedom pose relationship of the component in the docking plane so as to adjust to the final docking attitude. And in the butt joint process of the components, the distance measuring instrument and the camera continue to perform whole-course real-time adjustment.
Compared with the prior art, the invention has the beneficial effects that:
1. the automatic installation of large-scale components is realized, the labor is saved, and the efficiency is increased;
2. the method has longer identification distance and better end precision;
3. the method is simple to implement and avoids complex operation.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (8)
1. An automatic installation method of a large component is characterized by comprising the following steps:
providing a component, the component comprising: three relative laser range finders, two large-range variable-focus cameras and a six-degree-of-freedom adjusting system; wherein:
the three relative laser range finders include: the laser ranging device comprises a first laser range finder, a second laser range finder and a third laser range finder, wherein a straight line formed by the first laser range finder and the second laser range finder is perpendicular to a straight line formed by the first laser range finder and the third laser range finder, the detection directions of the first laser range finder, the second laser range finder and the third laser range finder are parallel and equidirectional, and the detection direction is perpendicular to a plane formed by the first laser range finder, the second laser range finder and the third laser range finder;
the two large-range variable-focus cameras comprise a first camera and a second camera, and planes of the first camera and the second camera are parallel to a plane formed by the first laser range finder, the second laser range finder and the third laser range finder;
before automatic installation, setting a data matrix code target on target equipment;
during automatic installation, the first laser range finder is used for obtaining first collected data, the second laser range finder is used for obtaining second collected data, the third laser range finder is used for obtaining third collected data, and the relative pose relation between the component and the target equipment installation surface is calculated by using the first collected data, the second collected data and the third collected data;
identifying the data matrix code by using the first camera and the second camera to obtain the position of the data matrix code in an image, and calculating horizontal and vertical coordinates of a point in the code in the image, wherein the horizontal and vertical coordinates comprise a first horizontal coordinate, a first vertical coordinate, a second horizontal coordinate and a second vertical coordinate;
controlling the mounting equipment to carry the mounting component to approach the target equipment at a constant speed, and controlling to execute the step a, the step b and the step c at the same time; wherein:
the step a comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first collected data and the second collected data to be reduced and enter a first preset difference value range, and enable the difference value between the first collected data and the third collected data to be reduced and enter a second preset difference value range;
the step b comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the first abscissa and the first ordinate to enter a first preset error range of a target point;
the step c comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first vertical coordinate and the second vertical coordinate to be reduced and enter a second preset error range;
and controlling to stop the approach of the installation equipment by using first acquisition data acquired by the first laser range finder, returning to execute the step of controlling the installation equipment to carry the installation part to approach the target equipment at a constant speed, and controlling to simultaneously execute the steps of the step a, the step b and the step c until the step a, the step b and the step c enter an allowable error range at the same time.
2. The method of claim 1, further comprising:
and when the camera is automatically installed, the focal lengths of the first camera and the second camera are adjusted by using the first collected data, the second collected data and the third collected data.
3. The method of claim 1, wherein the target values of the first, second and third laser rangefinders are aligned prior to automatic installation.
4. The method of claim 1, wherein the six degree of freedom adjustment system comprises a microphone platform plus three independent degree of freedom devices, or comprises a 6 degree of freedom robot.
5. An automatic installation device for large components, comprising:
the setting module is used for setting components and setting a data matrix code target on the target equipment before automatic installation; the component includes: three relative laser range finders, two large-range variable-focus cameras and a six-degree-of-freedom adjusting system; wherein: the three relative laser range finders include: the laser ranging device comprises a first laser range finder, a second laser range finder and a third laser range finder, wherein a straight line formed by the first laser range finder and the second laser range finder is perpendicular to a straight line formed by the first laser range finder and the third laser range finder, the detection directions of the first laser range finder, the second laser range finder and the third laser range finder are parallel and equidirectional, and the detection direction is perpendicular to a plane formed by the first laser range finder, the second laser range finder and the third laser range finder; the two large-range variable-focus cameras comprise a first camera and a second camera, and planes of the first camera and the second camera are parallel to a plane formed by the first laser range finder, the second laser range finder and the third laser range finder;
the control module is used for acquiring first acquisition data by using the first laser range finder, acquiring second acquisition data by using the second laser range finder, acquiring third acquisition data by using the third laser range finder and calculating the relative pose relation between the component and the target equipment installation surface by using the first acquisition data, the second acquisition data and the third acquisition data during automatic installation; identifying the data matrix code by using the first camera and the second camera to obtain the position of the data matrix code in an image, and calculating horizontal and vertical coordinates of a point in the code in the image, wherein the horizontal and vertical coordinates comprise a first horizontal coordinate, a first vertical coordinate, a second horizontal coordinate and a second vertical coordinate; controlling the mounting equipment to carry the mounting component to approach the target equipment at a constant speed; controlling to simultaneously execute the step a, the step b and the step c; wherein: the step a comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first collected data and the second collected data to be reduced and enter a first preset difference value range, and enable the difference value between the first collected data and the third collected data to be reduced and enter a second preset difference value range; the step b comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the first abscissa and the first ordinate to enter a first preset error range of a target point; the step c comprises the following steps: adjusting the six-degree-of-freedom adjusting system to enable the difference value between the first vertical coordinate and the second vertical coordinate to be reduced and enter a second preset error range; and controlling to stop the approach of the installation equipment by using first acquisition data acquired by the first laser range finder, returning to execute the step of controlling the installation equipment to carry the installation part to approach the target equipment at a constant speed, and controlling to simultaneously execute the steps of the step a, the step b and the step c until the step a, the step b and the step c enter an allowable error range at the same time.
6. The apparatus of claim 5, further comprising: and the adjusting module is used for adjusting the focal lengths of the first camera and the second camera by utilizing the first collected data, the second collected data and the third collected data during automatic installation.
7. The apparatus of claim 5, further comprising: and the calibration module is used for finding the target values of the first laser distance meter, the second laser distance meter and the third laser distance meter before automatic installation.
8. The apparatus of claim 5, wherein the six degree of freedom adjustment system comprises a microphone platform plus three independent degree of freedom devices, or comprises a 6 degree of freedom robot.
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