CN112362032B - Part axis extraction method based on photogrammetry technology - Google Patents
Part axis extraction method based on photogrammetry technology Download PDFInfo
- Publication number
- CN112362032B CN112362032B CN202010962198.7A CN202010962198A CN112362032B CN 112362032 B CN112362032 B CN 112362032B CN 202010962198 A CN202010962198 A CN 202010962198A CN 112362032 B CN112362032 B CN 112362032B
- Authority
- CN
- China
- Prior art keywords
- axis
- tool
- equation
- measured
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000605 extraction Methods 0.000 title claims abstract description 34
- 238000005516 engineering process Methods 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 21
- 230000000712 assembly Effects 0.000 claims abstract description 9
- 238000000429 assembly Methods 0.000 claims abstract description 9
- 238000004364 calculation method Methods 0.000 claims description 13
- 239000013598 vector Substances 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000001914 filtration Methods 0.000 description 2
- 238000009472 formulation Methods 0.000 description 2
- 241000272517 Anseriformes Species 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application belongs to the field of machine manufacturing, and particularly relates to a part axis extraction method based on a photogrammetry technology, which comprises the following steps: s1: and a plurality of screw assemblies penetrate through the through holes in the tool, and the shaft to be detected penetrates through the axis to extract the round hole of the tool. S2: the extending lengths of the screw rod components in any two adjacent directions are adjusted through nuts, so that the shaft is in contact with the ball heads on the screw rod components; s3: adjusting nuts to coordinate the extension lengths of the screws in all directions, so that all the springs are in a compressed state and the axis extraction tool can freely rotate around the axis; s4: arranging photographic coding points near a shaft to be measured and placing a photogrammetric reference ruler; s5: and (4) measuring initial parameters. S6: measuring a cylinder surface point set; s7: and fitting the point cloud coordinates measured in the step S6 to obtain an axis equation of the cylinder. According to the invention, the axis extraction tool is designed, and the axis central line is obtained by adopting a photogrammetry mode, so that compared with a laser tracker, the measurement process is more convenient, the measurement environment requirement is low, and the adaptability is stronger.
Description
Technical Field
The application belongs to the field of machine manufacturing, and particularly relates to a part axis extraction method based on a photogrammetry technology.
Background
With the rapid development of the manufacturing industry towards high precision, flexibility and digitalization, the technical level of modern workers cannot meet the requirement of product assembly precision. In order to improve the product quality and improve the production efficiency, more enterprises gradually explore the application of the automatic assembly system to the product assembly process. Currently, most movable parts in the manufacturing field are assembled by using a shaft hole matching mode, such as airplane vertical tails, canards, landing gear doors and the like. For such movable components that are mounted in a shaft hole fit manner, the center line of the mounting shaft must be obtained first to automate the assembly process.
Currently, most of the extraction of the shaft center line is completed by adopting a laser tracker. However, the environment of modern assembly plants is complex and it is difficult to select a good laser tracker mounting location. Meanwhile, various tools, trusses and the like existing in a production field shield the light path of the laser tracker, so that the measurement accessibility of the laser tracker is greatly reduced. Therefore, the method for conveniently, quickly and accurately extracting the axis can be an important guarantee for improving the efficiency and the quality of automatic assembly.
Disclosure of Invention
In order to solve the problems in the prior art, the part axis extraction method based on the photogrammetry technology is simple and convenient to operate, high in calculation speed, high in precision and low in cost.
In order to achieve the purpose, the specific scheme of the application is as follows:
a part axis extraction method based on a photogrammetry technology is characterized in that: the method comprises the following steps:
s1: a plurality of screw assemblies penetrate through the through holes in the tool, and the shaft to be detected penetrates through the circular hole of the axis extraction tool; a plurality of screw assemblies may be distributed in different orientations, either increased or decreased as required to ensure that the shaft can be clamped.
S2: the extending lengths of the screw rod components in any two adjacent directions are adjusted through nuts, so that the shaft is in contact with the ball heads on the screw rod components;
s3: adjusting nuts to coordinate the extension lengths of the screws in all directions, so that all the springs are in a compressed state and the axis extraction tool can freely rotate around the axis;
s4: arranging photographic coding points near a shaft to be measured and placing a photogrammetric reference ruler;
s5: initial parameter measurement: keeping the axis extraction tool fixed along the axis direction, rotating more than 3 positions around the axis, taking pictures and measuring the pictures by the measuring camera 8 from different positions, filtering the taken pictures, extracting edges and the like to obtain a shooting target center Pl＝{Pl-iI is 1,2,3 … m }. By PlPerforming circle fitting to obtain the center P of the space circle0(x0,y0,z0) Radius r; to PlPoints are subjected to plane fitting, and a plane normal vector is recorded as
S6: measurement of the set of cylindrical surface points: the axis extraction tool is arbitrarily translated and rotated along the axis directionAnd shooting the images from a plurality of angles to obtain a plurality of measurement images at different positions, and obtaining a shooting target point set on the axis extraction tool, wherein the shooting target point set is recorded as P ═ Pi，i＝1,2…n}。
S7: and fitting the point cloud coordinates measured in the step S6 to obtain an axis equation of the cylinder.
Establishing equation of cylinder (1)
(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2＝r2 (1)
Constructing error equation (2) from equation (1)
f＝(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2-r2 (2)
After the error equation (2) is linearized, an axis equation of the cylinder, namely an axis equation of the part, can be obtained by iterative solution by using the point set P measured in S6. Those skilled in the art will know which formula or calculation method to use for the axis calculation. Wherein a, b, c are initial direction vectors of cylinder iteration, which can be obtained by measurement or estimated according to an established coordinate system, f represents an error equation, r is radius of the cylinder, and detailed calculation process and parameter explanation are shown in the embodiment.
Further, the number of screw assemblies is at least six. The specific number can be adjusted according to actual requirements.
And further 1, a calibrated shooting target point and a shooting code point for identifying the information of the reference scale are contained on the reference scale. The reference scale is placed in front of the axis to be measured, and it is guaranteed that each shot image can contain reference scale information as much as possible. The positions of the scale, the camera code points and the axis to be measured are shown in fig. 1. Different photogrammetry equipment uses different types of scale bars, but all are used to obtain measurement field scale information.
The shooting in S5 and S6 specifically means: shooting target point fixationFix on the axis frock, the measurement process rotates and the translation with the frock along the axis to it is shot and is measured and obtain the point set P ═ P { P of photographic target point in different positionsiI ═ 1,2 … n }, the points are distributed on a cylindrical surface with the shaft centerline as the axis, and then the cylindrical equation can be solved from the resulting set of points P.
The specific steps in S5 and S6 are as follows: after the collected photographic coding points, photographic target points and a reference scale are identified by industrial photogrammetric software, images are processed by methods of picture matching, front intersection, rear intersection, light beam adjustment and the like, and three-dimensional coordinates of the photographic target points on the tool at different positions are obtained by axis extraction under the same coordinate system.
The calculation method in S7 includes but is not limited to: and constructing an error function and optimizing a calculation process through a cylindrical basic equation which is fit by a plurality of points distributed on the surface of the cylinder, so that the fitting precision is improved, and the calculation process is accelerated. The specific calculation processes herein are all prior art in the field, and those skilled in the art know which formula or calculation method to use for the calculation of the structure.
The axis extraction tool comprises a tool main body, wherein a photographic target point is arranged at one end of the tool main body, a polygonal fixed end is arranged at the other end of the tool main body, a plurality of through holes for allowing the screw assembly to pass through are formed in the outer surface of the fixed end, and the screw assembly is connected with the fixed end through nuts after passing through the through holes; the middle part of stiff end is provided with the screw rod subassembly round hole that lets screw rod subassembly one end wear out.
The screw rod assembly comprises a shell, a mandrel is arranged in the shell, one end of the mandrel extends out of the shell and is provided with a ball head, and a spring is sleeved on the mandrel extending out of the shell.
The application has the advantages that:
according to the invention, the axis extraction tool is designed, and the axis central line is obtained by adopting a photogrammetry mode, so that compared with a laser tracker, the measurement process is more convenient, the measurement environment requirement is low, and the adaptability is stronger.
Drawings
Fig. 1 is a schematic view of a measurement site.
FIG. 2 is an assembly view of the axis extraction tool.
Fig. 3 is a plan view of the axis extraction tool body.
Fig. 4 is a partial cross-sectional view of the screw assembly.
FIG. 5 is a schematic of a measurement point, an axis direction, and a measurement point-to-axis distance.
In the figure: the device comprises a tool 1, a tool main body, a photographic target point 3, a screw assembly 4, a shell 4-1, a mandrel 4-2, a ball 4-3, a spring 4-4, a nut 5, a screw assembly round hole 6, a screw assembly through hole 7, a photogrammetric camera 8, a photogrammetric coding point 9, a base 10 and a reference ruler 11.
Detailed Description
The present embodiment will be described with reference to fig. 1 to 5, in which the object to be measured is an axis and the photogrammetric equipment used is a single-camera photogrammetric system.
S1: the screw assembly penetrates through a through hole 7 in the tool, and meanwhile, the shaft to be detected penetrates through a circular hole 6 of the axis extraction tool;
s2: the extending length of the bolt assemblies in any two adjacent directions is adjusted through the nuts 5, so that the shaft is in contact with the ball heads 4-3 on the screw assemblies 4;
s3: adjusting nuts to coordinate the extension lengths of the screws in all directions to enable all the springs 4-4 to be in a compressed state and enable the axis extraction tool 1 to freely rotate around the axis;
s4: arranging a photographic coding point 9 near the axis to be measured and placing a photographic measuring reference ruler 11;
s5: initial parameter measurement: keeping the axis extraction tool 1 fixed along the axis direction, rotating more than 3 positions around the axis, taking pictures and measuring the pictures by the measuring camera 8 from different positions, filtering the taken pictures, extracting edges and the like to obtain a shooting target center Pl＝{Pl-iAnd i is 1,2,3 … m. By PlPerforming circle fitting to obtain the center P of the space circle0(x0,y0,z0) Radius r; to PlPoints are subjected to plane fitting, and a plane normal vector is recorded as
S6: measurement of the set of cylindrical surface points: the axis extraction tool is translated and rotated along the axis direction, and is shot from a plurality of angles to obtain a plurality of measurement images at different positions, so that a shooting target point set on the axis extraction tool is obtained and is recorded as P ═ Pi，i＝1,2…n}。
S7: and fitting the point cloud coordinates measured in the step S6 to obtain an axis equation of the cylinder.
Solving the parameters of the cylinder, specifically solving the method as follows:
establishing equation of cylinder (1)
(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2＝r2 (1)
Constructing error equation (2) from equation (1)
f＝(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2-r2 (2)
For the nonlinear multi-element function shown in the formula (2), the equation f is linearized to obtain the formula (3)
A certain point P on the cylindrical surfacei(xi,yi,zi) The error of (d) can be expressed as:
substituting the cylindrical surface point P measured in step S6 into equation (4) to obtain n error equations, and rewriting the error equation set into a matrix form as follows:
Vn×1＝Bn×7X7×1-Ln×1 (5)
according to the least square principle, when VTWhen V is minimum, the sum of squared errors of all the points is minimum, and the correction value X can be obtained7×1Iteratively solving equations (6) and (7) until X7×1Exits the iteration when the parameters of (1) satisfy equation (8):
X0＝X0+X7×1 (7)
| Δ a | + | Δ b | + | Δ c | < 0.001 or | Δ r | < 0.01 (8)
Wherein:
Vn×1＝[V1 V2 V3 ... Vn]T (9)
X7×1＝[Δx0 Δy0 Δz0 Δa Δb Δc Δr]T (11)
Ln×1＝[-f1 -f2 -f3 ... -fn]T (12)
fi＝(xi-x0)2+(yi-y0)2+(zi-z0)2-[a(xi-x0)+b(yi-y0)+c(zi-z0)]2-(r)2 (13)
Claims (9)
1. a part axis extraction method based on a photogrammetry technology is characterized in that: the method comprises the following steps:
s1: a plurality of screw components penetrate through holes in the axis extraction tool, and a shaft to be detected penetrates through a round hole of the axis extraction tool;
s2: adjusting the extending lengths of any two adjacent screw assemblies through nuts to enable the shaft to be measured to be in contact with the ball heads on the screw assemblies;
s3: adjusting nuts to coordinate the extension lengths of the screws in all directions, so that all the springs are in a compressed state and the axis extraction tool can freely rotate around the shaft to be measured;
s4: arranging photographic coding points near a shaft to be measured and placing a photogrammetric reference ruler;
s5: initial parameter measurement: keep axis to draw frock 1 fixed along the axis direction, rotate more than 3 positions around the axis, measure camera 8 and shoot it from different positions and measure, to shooingFiltering and edge extracting the photographed image to obtain the center P of the photographing target pointl＝{Pl-iI ═ 1,2,3 … m }; by PlPerforming circle fitting to obtain the center P of the space circle0(x0,y0,z0) And a radius r; point set PlPerforming plane fitting to obtain a plane normal vector, and recording the plane normal vector as
S6: measurement of the set of cylindrical surface points: carrying out arbitrary translation and rotation on the axis extraction tool along the axis direction, shooting the axis extraction tool from a plurality of angles to obtain a plurality of measurement images of n different positions, and obtaining a shooting target point set on the axis extraction tool, wherein the shooting target point set is marked as P ═ Pi，i＝1,2…n}；
S7: and fitting the point cloud coordinates measured in the step S6 to obtain an axis equation of the cylinder.
2. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the number of screw assemblies is at least six.
3. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the reference scale comprises a shooting target point with calibrated distance and a shooting code point for identifying the information of the reference scale.
4. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the shooting in S5 and S6 specifically means: the shooting target point is fixed on the axis tool, the tool is rotated and translated along the axis in the measuring process, and the shooting target point is shot and measured to obtain a point set P (P) of the shooting target point at different positionsiI is 1,2 … n, the points are distributed on a cylindrical surface with the central line of the shaft to be measured as the axis, and then the cylindrical equation can be solved according to the obtained point set P.
5. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the specific steps in S5 and S6 are as follows: after the collected photographic coding points, photographic target points and a reference scale are identified by industrial photogrammetric software, images are processed by methods of picture matching, front intersection, rear intersection, light beam adjustment and the like, and three-dimensional coordinates of the photographic target points on the tool at different positions are obtained by axis extraction under the same coordinate system.
6. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the calculation method in S7 includes but is not limited to: and constructing an error function and optimizing a calculation process through a cylindrical basic equation which is fit by a plurality of points distributed on the surface of the cylinder, so that the fitting precision is improved, and the calculation process is accelerated.
7. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein: the method is realized by adopting an axis extraction tool, the axis extraction tool comprises a tool main body, one end of the tool main body is provided with a photographic target point, the other end of the tool main body is provided with a polygonal fixed end, the outer surface of the fixed end is provided with a plurality of through holes for penetrating through a screw rod assembly, and the screw rod assembly is connected with the fixed end through a nut after penetrating through the through holes; the middle part of stiff end is provided with the screw rod subassembly round hole that lets screw rod subassembly one end wear out.
8. The method of claim 7, wherein the method comprises the following steps: the screw rod assembly comprises a shell, a mandrel is arranged in the shell, one end of the mandrel extends out of the shell and is provided with a ball head, and a spring is sleeved on the mandrel extending out of the shell.
9. The method for extracting the axis of the part based on the photogrammetry technology as recited in claim 1, wherein:
s7 specifically includes: establishing equation of cylinder (1)
(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2＝r2 (1)
Constructing error equation (2) from equation (1)
f＝(x-x0)2+(y-y0)2+(z-z0)2-[α(x-x0)+b(y-y0)+c(z-z0)]2-r2 (2)
After the error equation (2) is linearized, the axis of the part is obtained by iterative solution of gradient descent, Gauss Newton or LM algorithm by using a point set P measured by S6;
where a, b, c are the initial direction vectors of the cylinder iterations, estimated either by measurement or from an established coordinate system, f represents the error equation, r the radius of the cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010962198.7A CN112362032B (en) | 2020-09-14 | 2020-09-14 | Part axis extraction method based on photogrammetry technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010962198.7A CN112362032B (en) | 2020-09-14 | 2020-09-14 | Part axis extraction method based on photogrammetry technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112362032A CN112362032A (en) | 2021-02-12 |
| CN112362032B true CN112362032B (en) | 2022-05-10 |
Family
ID=74516777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010962198.7A Active CN112362032B (en) | 2020-09-14 | 2020-09-14 | Part axis extraction method based on photogrammetry technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112362032B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115310028B (en) * | 2022-07-21 | 2023-11-10 | 成都飞机工业（集团）有限责任公司 | Calculation method for uncertainty in measurement of included angle between axis of blind hole and plane |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2003206494A8 (en) * | 2002-05-13 | 2003-11-11 | Trumpf Maschinen Austria Gmbh | Production device, especially a bending press, and method for operating said production device |
| WO2012109760A1 (en) * | 2011-02-18 | 2012-08-23 | Traumis Surgical Systems Inc. | Tool with integrated navigation and guidance system and related apparatus and methods |
| CN103471531A (en) * | 2013-09-27 | 2013-12-25 | 吉林大学 | On-line non-contact measurement method for straightness of axis parts |
| CN103616016A (en) * | 2013-11-29 | 2014-03-05 | 大连理工大学 | Visual position-pose measurement method based on point-line combination characteristics |
| CN103727927A (en) * | 2013-12-19 | 2014-04-16 | 大连理工大学 | High-velocity motion object pose vision measurement method based on structured light |
| JP2014126481A (en) * | 2012-12-27 | 2014-07-07 | Toyota Motor Corp | Method and apparatus for measuring geometric tolerance of cylindrical container |
| CN105563270A (en) * | 2015-12-21 | 2016-05-11 | 中国科学院长春光学精密机械与物理研究所 | Workpiece center and azimuth angle determining device for ion beam surface shape finishing |
| CN106679569A (en) * | 2017-02-21 | 2017-05-17 | 成都飞机工业（集团）有限责任公司 | Visual measuring adapter for hole axis |
| CN108317942A (en) * | 2018-01-08 | 2018-07-24 | 成都飞机工业（集团）有限责任公司 | Longaxones parts straight line coaxiality error detection device |
| CN111043119A (en) * | 2019-12-05 | 2020-04-21 | 成都艾立本科技有限公司 | Multipole rod support device for single cylindrical surface positioning, multipole rod device and multipole rod installation method |
| CN112729170A (en) * | 2020-11-30 | 2021-04-30 | 成都飞机工业（集团）有限责任公司 | Hole axis measuring device and method based on photogrammetry |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU502214A1 (en) * | 1974-01-18 | 1976-02-05 | Предприятие П/Я М-5881 | Pneumatic displacement sensor |
| US6539330B2 (en) * | 2000-07-19 | 2003-03-25 | Pentax Corporation | Method and apparatus for measuring 3-D information |
| CH697294B1 (en) * | 2003-12-22 | 2008-08-15 | Oerlikon Assembly Equipment Ag | A method for the calibration of the gripping axis of the bonding head of an automatic machine for the mounting of semiconductor chips on a substrate. |
| US7208943B2 (en) * | 2005-06-03 | 2007-04-24 | Delphi Technologies, Inc. | Electrical device enclosure |
| CN101886921B (en) * | 2010-07-08 | 2012-07-18 | 西安工业大学 | Measurement method and measurement accessory for zero point calibration of gear measuring center |
| CN103743393B (en) * | 2013-12-20 | 2016-07-06 | 西安交通大学 | A kind of pose measuring method of cylindric target |
| CN103968761A (en) * | 2014-05-28 | 2014-08-06 | 中科华赫（北京）科技有限责任公司 | Absolute positioning error correction method of in-series joint type robot and calibration system |
| CN108469782A (en) * | 2018-02-08 | 2018-08-31 | 西南交通大学 | A kind of installation error discrimination method based on rotary shaft composition error measured value |
| CN108534679B (en) * | 2018-05-14 | 2019-08-13 | 西安电子科技大学 | A kind of cylindrical member axis pose without target self-operated measuring unit and method |
| CN109163675B (en) * | 2018-08-01 | 2021-01-22 | 成都飞机工业（集团）有限责任公司 | Method for detecting angular pendulum shaft position accuracy based on laser tracker |
| CN109520477B (en) * | 2018-10-30 | 2021-01-26 | 成都飞机工业（集团）有限责任公司 | High-precision scale factor measuring method based on two-dimensional photography |
| CN109297428A (en) * | 2018-11-21 | 2019-02-01 | 武汉珈鹰智能科技有限公司 | A kind of high-precision deformation based on unmanned plane patrols survey technology method |
| CN110514180A (en) * | 2019-07-18 | 2019-11-29 | 舟山中远海运重工有限公司 | A Method for Restoring the Pose and Posture of Pipe Fittings and Flanges Based on Photogrammetry |
| CN110470242B (en) * | 2019-08-23 | 2020-11-27 | 贵阳新天光电科技有限公司 | Device and method for measuring roundness of inner hole of large part in situ |
-
2020
- 2020-09-14 CN CN202010962198.7A patent/CN112362032B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2003206494A8 (en) * | 2002-05-13 | 2003-11-11 | Trumpf Maschinen Austria Gmbh | Production device, especially a bending press, and method for operating said production device |
| WO2012109760A1 (en) * | 2011-02-18 | 2012-08-23 | Traumis Surgical Systems Inc. | Tool with integrated navigation and guidance system and related apparatus and methods |
| JP2014126481A (en) * | 2012-12-27 | 2014-07-07 | Toyota Motor Corp | Method and apparatus for measuring geometric tolerance of cylindrical container |
| CN103471531A (en) * | 2013-09-27 | 2013-12-25 | 吉林大学 | On-line non-contact measurement method for straightness of axis parts |
| CN103616016A (en) * | 2013-11-29 | 2014-03-05 | 大连理工大学 | Visual position-pose measurement method based on point-line combination characteristics |
| CN103727927A (en) * | 2013-12-19 | 2014-04-16 | 大连理工大学 | High-velocity motion object pose vision measurement method based on structured light |
| CN105563270A (en) * | 2015-12-21 | 2016-05-11 | 中国科学院长春光学精密机械与物理研究所 | Workpiece center and azimuth angle determining device for ion beam surface shape finishing |
| CN106679569A (en) * | 2017-02-21 | 2017-05-17 | 成都飞机工业（集团）有限责任公司 | Visual measuring adapter for hole axis |
| CN108317942A (en) * | 2018-01-08 | 2018-07-24 | 成都飞机工业（集团）有限责任公司 | Longaxones parts straight line coaxiality error detection device |
| CN111043119A (en) * | 2019-12-05 | 2020-04-21 | 成都艾立本科技有限公司 | Multipole rod support device for single cylindrical surface positioning, multipole rod device and multipole rod installation method |
| CN112729170A (en) * | 2020-11-30 | 2021-04-30 | 成都飞机工业（集团）有限责任公司 | Hole axis measuring device and method based on photogrammetry |
Non-Patent Citations (2)
| Title |
|---|
| 基于间接测量法的制孔机器人的工具参数标定;周炜 等;《南京理工大学学报》;20131231;81-86 * |
| 线结构光视觉测量系统运动轴线的简易标定方法;陈新禹 等;《中国激光》;20121130;173-178 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112362032A (en) | 2021-02-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109029299B (en) | Dual-camera measurement device and measurement method for docking angle of pin hole in cabin | |
| CN110908401B (en) | A UAV autonomous inspection method for unknown tower structure | |
| CN110146038B (en) | Distributed monocular camera laser measuring device and method for assembly corner of cylindrical part | |
| CN109859272B (en) | Automatic focusing binocular camera calibration method and device | |
| CN104851104B (en) | Using the flexible big view calibration method of target high speed camera close shot | |
| US20200061769A1 (en) | Monocular vision six-dimensional measurement method for high-dynamic large-range arbitrary contouring error of cnc machine tool | |
| CN107971831B (en) | Numerically-controlled machine tool high dynamic any profile errors monocular 6 DOF measurement method on a large scale | |
| CN108921901A (en) | A kind of big visual field camera calibration method based on accurate two-axis platcform and laser tracker | |
| CN111002312A (en) | Industrial robot hand-eye calibration method based on calibration ball | |
| CN108620955B (en) | Measurement and Identification Method of Rotary Axis Error of Machine Tool Based on Monocular Vision | |
| CN112614098A (en) | Blank positioning and machining allowance analysis method based on augmented reality | |
| CN110030926B (en) | Calibration Method of Laser Beam Spatial Pose | |
| CN111257231B (en) | Automatic leveling method for large-caliber planar optical element | |
| CN114283203A (en) | Calibration method and system of multi-camera system | |
| CN112362032B (en) | Part axis extraction method based on photogrammetry technology | |
| CN116619350A (en) | Robot error calibration method based on binocular vision measurement | |
| CN113008158A (en) | Multi-line laser tyre pattern depth measuring method | |
| CN109342008B (en) | Wind tunnel test model attack angle single-camera video measuring method based on homography matrix | |
| CN114993608A (en) | Wind tunnel model three-dimensional attitude angle measuring method | |
| CN114770517A (en) | Method for calibrating robot through point cloud acquisition device and calibration system | |
| CN112414324A (en) | Helicopter rotor blade torsion angle measurement method based on binocular stereo vision | |
| CN108257184B (en) | Camera attitude measurement method based on square lattice cooperative target | |
| CN112428265B (en) | Measuring system and measuring method | |
| CN114332486A (en) | Visual precision measurement method for the center point of circular steel stamp | |
| CN108375350B (en) | High-precision barrel elastic angle measuring device based on images |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |