CN105863674A - Segment erection pose detection device and detection method - Google Patents
Segment erection pose detection device and detection method Download PDFInfo
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- CN105863674A CN105863674A CN201610351930.0A CN201610351930A CN105863674A CN 105863674 A CN105863674 A CN 105863674A CN 201610351930 A CN201610351930 A CN 201610351930A CN 105863674 A CN105863674 A CN 105863674A
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- jurisdiction
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- pipe sheet
- sheet assembling
- posture
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Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/04—Lining with building materials
- E21D11/08—Lining with building materials with preformed concrete slabs
Abstract
The invention discloses a segment erection pose detection device and detection method. The segment erection pose detection device comprises a reference mark unit and an image acquisition unit, wherein the reference mark unit is used for being fixed on a segment to determine the pose coordinate system of the segment, and the image acquisition unit is used for acquiring an image of the segment and analyzing the image to obtain the pose coordinate system of the segment, so that the rotation posture and the translation position of the segment relative to the reference coordinate system are obtained; the reference coordinate system is preset according to the positioned to be installed of the segment. According to the segment erection pose detection device, the reference coordinate system is preset and the reference mark unit is arranged on the segment, therefore, the image of the segment can be acquired by a single imaging device (based on monocular vision), the rotation posture and the translation position of the segment relative to the reference coordinate system can be obtained by analyzing the image, and a reference is provided for the control of the segment, and thus the accurate erection of the segment can be realized.
Description
Technical field
The present invention relates to duct piece assembling machine technical field, more specifically, relate to a kind of pipe sheet assembling apparatus for detecting position and posture and
Detection method.
Background technology
At present, Domestic Shield machine pipe sheet assembling system according to the observation of human eye and uses the mode of remote control to carry out execution system
Control thus realize pipe sheet assembling, but, use this Segment assembling method carry out positioning precision during assembly poor,
Speed of application is relatively slow, causes construction totle drilling cost higher.
It addition, abroad used light to cut method calculate the shield machine carrying out automatic pipe sheet assembling, the section of jurisdiction of this shield machine is automatic
Assembling device utilizes light to cut the detection of method structure active vision technology and assembles position and the form of section of jurisdiction, can cut on picture aobvious at light
Show the positioning scenarios setting section of jurisdiction, the clamping of its assembling lift/turn round and assemble location, can determine that coarse localization is with thin
Micro-location, this system uses structure light active vision technology, it is therefore desirable to has specific lasing light emitter, needs to install three groups
Laser instrument and one group of shooting unit, cause inconvenience to installation, and requisite space be bigger.
In recent years occur using way of electromagnetic induction and binocular vision to position.But, then there is precision in way of electromagnetic induction
Limited, and it is susceptible to the deficiency of environmental disturbances；Binocular vision then owing at least two imageing sensor must be configured,
Process computing capability and require height, thus volume and cost all can not effectively be reduced.And these positioners, all must
Must there be special navigation system software and computer, simultaneously must the prior coordinate system to tunnel environment and the seat of positioner
Mark system, image coordinate system three registrate, bulky, with high costs, bring great inconvenience to user.
Summary of the invention
Embodiment of the present invention is intended at least to solve one of technical problem present in prior art.To this end, the present invention implements
Mode needs to provide a kind of pipe sheet assembling apparatus for detecting position and posture and detection method.
A kind of pipe sheet assembling apparatus for detecting position and posture, including: reference mark unit and image acquisition units, this reference mark list
Unit is for being fixed on section of jurisdiction to determine the pose coordinate system of this section of jurisdiction.This image acquisition units is for gathering the figure of this section of jurisdiction
As and analyze this image to obtain the pose coordinate system of this section of jurisdiction, thus obtain the rotation appearance of this section of jurisdiction relative datum coordinate system
State peace pan position, this frame of reference presets according to the position to be installed of this section of jurisdiction.
The pipe sheet assembling apparatus for detecting position and posture of embodiment of the present invention, owing to presetting the frame of reference and setting on section of jurisdiction
Put reference mark unit, therefore can gather the image of section of jurisdiction only with single camera head (i.e. based on monocular vision), pass through
Analysis image just can get section of jurisdiction and provides ginseng relative to the rotation attitude of the frame of reference and translation position, the control for section of jurisdiction
Examine such that it is able to realize the accurate assembled of section of jurisdiction.And owing to based on monocular vision, making pipe sheet assembling apparatus for detecting position and posture body
Amass small and exquisite, simple to operate and cost is relatively low.
In some embodiments, this reference mark unit is fixed on this section of jurisdiction by being rigidly connected.
In some embodiments, this reference mark unit is fixed on the position that this section of jurisdiction is not affected by this segment deformation.
In some embodiments, this reference mark unit includes at least two plane being not parallel to each other connected, and this is at least
Two plane totally one limits, this planographic each has characteristic point figure.
In some embodiments, this at least two plane is mutually orthogonal.
In some embodiments, this pipe sheet assembling apparatus for detecting position and posture includes man-machine interaction unit, this man-machine interaction unit
For carrying out man-machine interaction and showing this section of jurisdiction rotation attitude peace pan position relative to this frame of reference.
In some embodiments, this image acquisition units includes embedded processing systems and image collecting device, this embedding
Formula processing system connects this image collecting device and this man-machine interaction unit.
In some embodiments, this embedded processing systems includes image application processor, random storage chip, storage
Device and network interface, this image application processor connects this image collecting device, and this random storage chip and this memory are even
Connecing this image application processor, this network interface connects this image application processor and this man-machine interaction unit.
In some embodiments, this man-machine interaction unit includes the display floater with touch-screen, and this display floater is used for
Show this section of jurisdiction rotation attitude peace pan position relative to this frame of reference.
In some embodiments, this man-machine interaction unit includes sound prompt device, and this sound prompt device is used for pointing out
This section of jurisdiction is relative to the rotation attitude peace pan position of this frame of reference.
A kind of pipe sheet assembling position and posture detection method, including step:
Position to be installed according to this section of jurisdiction presets the frame of reference；
It is fixed on reference mark unit on section of jurisdiction to determine the pose coordinate system of this section of jurisdiction；And
Gather the image of this section of jurisdiction and analyze this image to obtain the pose coordinate system of this section of jurisdiction, thus it is relative to obtain this section of jurisdiction
The rotation attitude peace pan position of this frame of reference.
Therefore, the pipe sheet assembling position and posture detection method of embodiment of the present invention, owing to presetting the frame of reference and at pipe
Reference mark unit is set on sheet, therefore can gather the figure of section of jurisdiction only with single camera head (i.e. based on monocular vision)
Picture, just can get section of jurisdiction by analysis image and relative to the rotation attitude of the frame of reference and translates position, for the control of section of jurisdiction
System provides reference such that it is able to realize the accurate assembled of section of jurisdiction.And owing to based on monocular vision, making pipe sheet assembling pose examine
Survey method is simple to operate and cost is relatively low.
In some embodiments, this reference mark unit includes at least two plane being not parallel to each other connected, and this is at least
Two plane totally one limits, this planographic each has characteristic point figure.
In some embodiments, pipe sheet assembling position and posture detection method, further comprise the steps of:
Show this section of jurisdiction rotation attitude peace pan position relative to this frame of reference.
In some embodiments, pipe sheet assembling position and posture detection method, further comprise the steps of:
This section of jurisdiction of voice message is relative to the rotation attitude peace pan position of this frame of reference.
The additional aspect of embodiment of the present invention and advantage will part be given in the following description, and part will be retouched from following
Become obvious in stating, or recognized by the practice of embodiment of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of embodiment of the present invention and advantage are from combining the accompanying drawings below description to embodiment
In will be apparent from easy to understand, wherein:
Fig. 1 is the module diagram of the pipe sheet assembling apparatus for detecting position and posture according to embodiment of the present invention；
Fig. 2 is the three-dimensional signal of the reference mark unit of the pipe sheet assembling apparatus for detecting position and posture according to embodiment of the present invention
Figure；
Fig. 3 is another module diagram of the pipe sheet assembling apparatus for detecting position and posture according to embodiment of the present invention；
Fig. 4 is the another module diagram of the pipe sheet assembling apparatus for detecting position and posture according to embodiment of the present invention；
Fig. 5 is another module diagram of the pipe sheet assembling apparatus for detecting position and posture according to embodiment of the present invention；
Fig. 6 is the schematic flow sheet of the pipe sheet assembling position and posture detection method according to embodiment of the present invention；
Fig. 7 is another schematic flow sheet of the pipe sheet assembling position and posture detection method according to embodiment of the present invention；
Fig. 8 is another schematic flow sheet of the pipe sheet assembling position and posture detection method according to embodiment of the present invention.
Detailed description of the invention
Embodiments of the present invention are described below in detail, and the example of described embodiment is shown in the drawings, the most extremely
Same or similar label represents same or similar element or has the element of same or like function eventually.Below by ginseng
The embodiment examining accompanying drawing description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention, it is to be understood that term " first ", " second " be only used for describe purpose, and
It is not intended that indicate or imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, limit
Have " first ", the feature of " second " can express or implicitly include one or more described features.At this
In the description of invention, " multiple " are meant that two or more, unless otherwise expressly limited specifically.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " install ",
" be connected ", " connection " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or
It is integrally connected；Can be to be mechanically connected, it is also possible to be to electrically connect maybe can be in communication with each other；Can be to be joined directly together, also
Can be indirectly connected to by intermediary, can be connection or the interaction relationship of two elements of two element internals.
For the ordinary skill in the art, above-mentioned term specifically containing in the present invention can be understood as the case may be
Justice.
Following disclosure provides many different embodiments or example for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter to the parts of specific examples be set for describing.Certainly, they are the most merely illustrative,
And it is not intended to limit the present invention.Additionally, the present invention can repeat reference numerals and/or reference in different examples
Letter, this repetition is for purposes of simplicity and clarity, itself does not indicate discussed various embodiment and/or sets
Relation between Ding.Additionally, the various specific technique that the invention provides and the example of material, but this area is common
Technical staff is it can be appreciated that the application of other techniques and/or the use of other materials.
Please join Fig. 1, a kind of pipe sheet assembling apparatus for detecting position and posture 100 that embodiment of the present invention provides, including reference mark
Unit 102 and image acquisition units 104.
Reference mark unit 102 is for being fixed on section of jurisdiction 200 to determine the pose coordinate system of section of jurisdiction 200.IMAQ
Unit 104 is for gathering the image of section of jurisdiction 200 and analyzing image to obtain the pose coordinate system of section of jurisdiction 200, thus obtains
The rotation attitude peace pan position of section of jurisdiction 200 relative datum coordinate system.The frame of reference is according to position to be assembled, section of jurisdiction 200
Preset.
Therefore, the pipe sheet assembling apparatus for detecting position and posture 100 of embodiment of the present invention, due to preset the frame of reference and
Section of jurisdiction 200 arranges reference mark unit, therefore can be only with single camera head (i.e. based on monocular vision) collection tube
The image of sheet 200, just can get section of jurisdiction 200 relative to the rotation attitude of the frame of reference and translational shifting by analyzing image
Putting, the control for section of jurisdiction 200 provides reference such that it is able to realize the accurate assembled of section of jurisdiction 200.And due to based on monocular
Vision, makes pipe sheet assembling apparatus for detecting position and posture 100 compact, simple to operate and cost is relatively low.
Specifically, reference mark unit 102 is fixed on section of jurisdiction 200 by being rigidly connected, and so can ensure reference mark
Unit 102 is fixed on section of jurisdiction 200.
Reference mark unit 102 is for determining pose coordinate system based on section of jurisdiction 200, therefore, reference mark unit 102
Need to be relatively fixed with section of jurisdiction 200 and be connected, it is to avoid both relative motions relatively affect the stability of pose coordinate system.At this
In embodiment, reference mark unit 102 can be fixed on section of jurisdiction by a rigid mount.
In the present embodiment, reference mark unit 102 is fixed on section of jurisdiction 200 not by the position of section of jurisdiction 200 deformation effect
On.
Same, so can ensure that the stability of reference mark unit 102, in order to avoid reference mark unit 102 is by section of jurisdiction
The impact of deformation, causes the stability of pose coordinate system to be deteriorated, and has influence on assembled performance accuracy.
The frame of reference can preset according to position to be assembled, section of jurisdiction 200.Such as, assembled in section of jurisdiction 200 spell to waiting
Before holding position, position to be assembled can be set up the frame of reference, and the frame of reference is saved in the detection of pipe sheet assembling pose
In device 100.
Therefore, image acquisition units 104 when gathering image, the section of jurisdiction 200 determined according to reference mark unit 102
Pose coordinate system and the comparison of the frame of reference, just can obtain the section of jurisdiction 200 rotation attitude peace relative to the frame of reference
Pan position.
In some embodiments, please join Fig. 2, reference mark unit 102 includes at least two being not parallel to each other connected
Plane 108, at least two plane totally one limit, each plane 108 is printed with characteristic point figure 110.
Therefore, by least two plane 108 being not parallel to each other, it may be determined that pose coordinate system based on section of jurisdiction 200.
The non-orthogonal planes 108 being not parallel to each other, though amount of calculation when increasing Coordinate Conversion to a certain extent, but section of jurisdiction can be improved
The applicability of assembled apparatus for detecting position and posture 100.It is preferred that reference mark unit 102 includes be not parallel to each other three connected
Individual plane 108.
In some embodiments, please join Fig. 2, at least two plane 108 is mutually orthogonal.
Specifically, in embodiments of the present invention, it is preferred that reference mark unit 102 includes the mutually orthogonal of connection
Three planes 108.Therefore, three mutually orthogonal planes 108, advantageously reduce amount of calculation during pipe sheet assembling.
It addition, the characteristic point figure 110 of reference mark unit 102 supports coding, even if there is multiple different fiducial mark
During will unit 102, it is also possible to normally work and do not interfere with each other.User can select different size of reference mark list flexibly
Unit 102.Due to the compact of reference mark unit 102, simple to operate, cost is relatively low, will gradually replace existing
Assembled location detection mode.In one example, the available at least two pieces of steel flat boards of reference mark unit 102 connect and
Formed.
In some embodiments, please join Fig. 1, this pipe sheet assembling apparatus for detecting position and posture 100 includes man-machine interaction unit 106,
Man-machine interaction unit 106 is for carrying out man-machine interaction and showing that this section of jurisdiction is relative to the rotation attitude of this frame of reference and translation
Position.
Therefore, operating personnel so can be made quickly to understand the rotation attitude peace pan position of section of jurisdiction, for the quick peace of section of jurisdiction
Dress and accurately control provide reference.Man-machine interaction unit 106 e.g. mobile terminal, can be carry-on by operating personnel 400
Carry or be bonded in operating room.
In some embodiments, please join Fig. 3, image acquisition units 104 includes embedded processing systems 112 and image
Harvester 114, embedded processing systems 112 connects image collecting device 114 and man-machine interaction unit 106.
Specifically, embedded processing systems 112 includes image application processor 116, random storage chip 118, storage
Device 120 and network interface 122, image application processor 116 connects image collecting device 114, random storage chip 118
And memory 120 connects image application processor 116, network interface 122 connects image application processor 116 and man-machine
Interactive unit 106.Therefore, application embedded processing systems 112, it is ensured that pipe sheet assembling apparatus for detecting position and posture 100
Low cost and small size.
Image application processor 116 e.g. flush bonding processor.Memory 120 can be used for depositing program firmware and image
Gather the data of gained, such as the accurate pose of section of jurisdiction 200 assembly.
Network interface 122 is e.g. arranged on the network interface on local area network interface card, it is also possible to be other type of
Network interface.
Image collecting device 114 can include CMOS digital image sensor, and image collecting device 114 such as can pass through spiral shell
Hole is rigidly connected on pipe sheet assembling device 300, and pipe sheet assembling device 300 generally comprises the manipulator of grasping pipe piece 200,
Image collecting device 114 can be fixed to during the assembly of section of jurisdiction 200, the position that pipe sheet assembling device 300 remains stationary as
On.During the assembly of section of jurisdiction 200, the image of image collecting device 114 Real-time Collection section of jurisdiction 200, embedded place
Reason system 112, according to the image collected, obtains the rotation attitude peace pan position of section of jurisdiction 200 relative datum coordinate system.
In some embodiments, please join Fig. 4, man-machine interaction unit 106 includes the display floater 124 with touch-screen,
Display floater 124 is for showing the rotation attitude peace pan position of section of jurisdiction 200 relative datum coordinate system.
Specifically, in one example, display floater 124 is the LCDs with touch-screen.Therefore, have tactile
The LCDs of control screen, its operating position alterable, to facilitate the assembled operation of operating personnel 400.Such as, behaviour
Make personnel 400 and LCDs can be placed on maneuverable place, and by touch screen input user instruction to control
The display of associated picture and the control of pipe sheet assembling apparatus for detecting position and posture 100.
In some embodiments, please join Fig. 5, man-machine interaction unit 106 includes sound prompt device 126, and voice carries
Showing device 126 is for pointing out the rotation attitude peace pan position of section of jurisdiction 200 relative datum coordinate system.
Specifically, sound prompt device 126 can include loudspeaker.Sound prompt device 126 is convenient to operation personnel 400
Operation pipe sheet assembling device.Such as, after operating personnel 400 can hear the prompting of sound prompt device 126, to section of jurisdiction
Position is adjusted, and therefore, in the position adjustment of section of jurisdiction, operating personnel 400 are without observing the rotation of section of jurisdiction 200
Turn the display of attitude peace pan position, also can realize the adjustment to position, section of jurisdiction, significantly reduce the work of operating personnel
Intensity and operation easier.
In sum, the pipe sheet assembling apparatus for detecting position and posture 100 of embodiment of the present invention, because employing IMAQ base
The optical alignment of quasi-tag unit 102 replaces traditional machinery location, and uses monocular vision and embedded processing further
System 112 replacement electromagnetic location and binocular visual positioning device and matched large-scale assembled navigation system so that
The volume and weight of pipe sheet assembling apparatus for detecting position and posture 100 is greatly reduced.
Owing to, in navigation procedure, pipe sheet assembling device 300 and reference mark unit 102 do not have physical contact, thus keep away
Exempt from the physical disturbance to reference mark unit 102, improve the stability of guider.
Use digital image sensor to gather image and after image application processor 116 processes simultaneously, section of jurisdiction can be obtained
The accurate pose of 200 assembly, the accurate pose of pipe sheet assembling is storable in memory 120, substantially increases navigation
The flexibility of device and convenience.
In operation, pipe sheet assembling apparatus for detecting position and posture 100 has sound and doubling of the image prompt facility, the most greatly
Reduce working strength and the operation easier of operating personnel 400.Small and exquisite volume and shirtsleeve operation flow process, the most more drop
The learning difficulty of low user and the requirement to assembled environment.
Please join Fig. 6, a kind of pipe sheet assembling position and posture detection method that embodiment of the present invention provides, including step:
S0, presets the frame of reference according to the position to be installed of this section of jurisdiction；
S1, is fixed on reference mark unit on section of jurisdiction to determine the pose coordinate system of section of jurisdiction；And
S2, gathers the image of section of jurisdiction and analyzes this image to obtain the pose coordinate system of section of jurisdiction, thus obtaining section of jurisdiction relative to base
The rotation attitude peace pan position of conventional coordinates.
Therefore, the pipe sheet assembling position and posture detection method of embodiment of the present invention, owing to presetting the frame of reference and at pipe
Reference mark unit is set on sheet 200, therefore can gather section of jurisdiction only with single camera head (i.e. based on monocular vision)
The image of 200, just can get section of jurisdiction 200 by analysis image and relative to the rotation attitude of the frame of reference and translates position,
Control for section of jurisdiction 200 provides reference such that it is able to realize the accurate assembled of section of jurisdiction 200.And due to based on monocular vision,
Make pipe sheet assembling position and posture detection method simple to operate and cost is relatively low.
It should be noted that the above-mentioned embodiment to the explanation of pipe sheet assembling apparatus for detecting position and posture is also applied for this reality
Execute the pipe sheet assembling position and posture detection method of mode, for avoiding redundancy, be no longer developed in details at this.
In some embodiments, reference mark unit includes at least two plane being not parallel to each other connected, at least two
Plane totally one limit, each planographic has characteristic point figure.
It should be noted that the above-mentioned embodiment to the explanation of pipe sheet assembling apparatus for detecting position and posture is also applied for this reality
Execute the pipe sheet assembling position and posture detection method of mode, for avoiding redundancy, be no longer developed in details at this.
In some embodiments, Fig. 7, described pipe sheet assembling position and posture detection method please be join, further comprise the steps of:
S3, shows this section of jurisdiction rotation attitude peace pan position relative to this frame of reference.
It should be noted that the above-mentioned embodiment to the explanation of pipe sheet assembling apparatus for detecting position and posture is also applied for this reality
Execute the pipe sheet assembling position and posture detection method of mode, for avoiding redundancy, be no longer developed in details at this.
In some embodiments, Fig. 8, described pipe sheet assembling position and posture detection method please be join, further comprise the steps of:
S4, the rotation attitude peace pan position of voice message section of jurisdiction relative datum coordinate system.
It should be noted that the above-mentioned embodiment to the explanation of pipe sheet assembling apparatus for detecting position and posture is also applied for this reality
Execute the pipe sheet assembling position and posture detection method of mode, for avoiding redundancy, be no longer developed in details at this.
In the description of this specification, reference term " embodiment ", " some embodiment ", " schematically
Embodiment ", " example ", the description of " concrete example " or " some examples " etc. mean to combine described embodiment party
Specific features, structure, material or feature that formula or example describe are contained at least one embodiment of the present invention or show
In example.In this manual, the schematic representation to above-mentioned term is not necessarily referring to identical embodiment or example.
And, the specific features of description, structure, material or feature can be in any one or more embodiments or examples
In combine in an appropriate manner.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or imply relatively heavy
The property wanted or the implicit quantity indicating indicated technical characteristic.Thus, " first ", the feature of " second " are defined
Can express or implicitly include at least one described feature.In describing the invention, " multiple " be meant that to
Few two, such as two, three etc., unless otherwise expressly limited specifically.
In flow chart or at this, any process described otherwise above or method description are construed as, and represent and include one
The module of code, fragment or the portion of the executable instruction of the individual or more step for realizing specific logical function or process
Divide, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not be by shown or discussion
Sequentially, including according to involved function by basic mode simultaneously or in the opposite order, performing function, this should be by
Embodiments of the present invention person of ordinary skill in the field understood.
Represent in flow charts or the logic described otherwise above at this and/or step, for example, it is possible to be considered as to use
In the sequencing list of the executable instruction realizing logic function, may be embodied in any computer-readable medium, with
For instruction execution system, device or equipment (system such as computer based system, including processor or other can be from
Instruction execution system, device or equipment instruction fetch also perform the system of instruction) use, or combine these instruction execution systems,
Device or equipment and use.For the purpose of this specification, " computer-readable medium " can be any can comprise, store,
Communication, propagation or transmission procedure for instruction execution system, device or equipment or combine these instruction execution systems, device
Or equipment and the device that uses.The more specifically example (non-exhaustive list) of computer-readable medium includes following: tool
There are the electrical connection section (mobile terminal) of one or more wiring, portable computer diskette box (magnetic device), arbitrary access
Memory (RAM), read-only storage (ROM), erasable edit read-only storage (EPROM or flash memory),
Fiber device, and portable optic disk read-only storage (CDROM).It addition, computer-readable medium can even is that
Paper or other suitable media of described program can be printed thereon, because can be such as by paper or other media are carried out
Optical scanner, then carries out editing, interpreting or be processed to electronically obtain institute with other suitable methods if desired
State program, be then stored in computer storage.
Should be appreciated that each several part of the present invention can realize by hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, multiple steps or method can with storage in memory and by suitable instruction execution system perform soft
Part or firmware realize.Such as, if realized with hardware, with the most the same, available this area is public
Any one or their combination in the following technology known realize: have and patrol for data-signal is realized logic function
Collect the discrete logic of gate circuit, there is the special IC of suitable combinational logic gate circuit, programmable gate array
(PGA), field programmable gate array (FPGA) etc..
Those skilled in the art are appreciated that and realize all or part of step that above-mentioned embodiment method is carried
Suddenly the program that can be by completes to instruct relevant hardware, and described program can be stored in a kind of computer-readable storage
In medium, described program upon execution, including one or a combination set of the step of method embodiment.
Additionally, each functional unit in each embodiment of the present invention can be integrated in a processing module, it is also possible to
It is that unit is individually physically present, it is also possible to two or more unit are integrated in a module.Above-mentioned integrated
Module both can realize to use the form of hardware, it would however also be possible to employ the form of software function module realizes.Described integrated mould
If block is using the form realization of software function module and as independent production marketing or use, it is also possible to be stored in one
In computer read/write memory medium.Storage medium mentioned above can be read-only storage, disk or CD etc..
Although above it has been shown and described that embodiments of the present invention, it is to be understood that above-mentioned embodiment is to show
Example, it is impossible to be interpreted as limitation of the present invention, those of ordinary skill in the art within the scope of the invention can be right
Above-mentioned embodiment is changed, revises, replaces and modification.
Claims (14)
1. a pipe sheet assembling apparatus for detecting position and posture, it is characterised in that including:
Reference mark unit, this reference mark unit is for being fixed on section of jurisdiction to determine the pose coordinate system of this section of jurisdiction；And
Image acquisition units, this image acquisition units is for gathering the image of this section of jurisdiction and analyzing this image to obtain this section of jurisdiction
Pose coordinate system, thus obtain the rotation attitude peace pan position of this section of jurisdiction relative datum coordinate system, this frame of reference
Position to be installed according to this section of jurisdiction presets.
2. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 1, it is characterised in that this reference mark unit leads to
Crossing is rigidly connected is fixed on this section of jurisdiction.
3. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 1, it is characterised in that this reference mark unit is solid
It is scheduled on the position that this section of jurisdiction is not affected by this segment deformation.
4. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 1, it is characterised in that this reference mark unit bag
Including at least two plane being not parallel to each other of connection, this at least two plane totally one limit, this planographic each has feature
Dot pattern.
5. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 4, it is characterised in that this at least two plane phase
The most orthogonal.
6. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 1, it is characterised in that this pipe sheet assembling pose is examined
Survey device includes:
Man-machine interaction unit, this man-machine interaction unit is used for carrying out man-machine interaction and showing that this section of jurisdiction is relative to this frame of reference
Rotation attitude peace pan position.
7. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 6, it is characterised in that this image acquisition units bag
Including embedded processing systems and image collecting device, this embedded processing systems connects this image collecting device and this man-machine friendship
Unit mutually.
8. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 7, it is characterised in that this embedded processing systems
Including image application processor, random storage chip, memory and network interface, this image application processor connects this figure
As harvester, this random storage chip and this memory connect this image application processor, and this network interface connects this figure
As application processor and this man-machine interaction unit.
9. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 6, it is characterised in that this man-machine interaction unit bag
Include the display floater with touch-screen, this display floater for show the rotation attitude of this section of jurisdiction relatively this frame of reference with
Translation position.
10. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 9, it is characterised in that this man-machine interaction unit bag
Including sound prompt device, this sound prompt device is for pointing out this section of jurisdiction rotation attitude relative to this frame of reference and translation
Position.
11. 1 kinds of pipe sheet assembling position and posture detection methods, it is characterised in that include step:
Position to be installed according to this section of jurisdiction presets the frame of reference；
It is fixed on reference mark unit on section of jurisdiction to determine the pose coordinate system of this section of jurisdiction；And
Gather the image of this section of jurisdiction and analyze this image to obtain the pose coordinate system of this section of jurisdiction, thus it is relative to obtain this section of jurisdiction
The rotation attitude peace pan position of this frame of reference.
12. pipe sheet assembling position and posture detection methods as claimed in claim 11, it is characterised in that this reference mark unit
Including at least two plane being not parallel to each other connected, this at least two plane totally one limit, this planographic each has spy
Levy dot pattern.
13. pipe sheet assembling position and posture detection methods as claimed in claim 11, it is characterised in that further comprise the steps of:
Show this section of jurisdiction rotation attitude peace pan position relative to this frame of reference.
14. pipe sheet assembling position and posture detection methods as claimed in claim 13, it is characterised in that further comprise the steps of:
This section of jurisdiction of voice message is relative to the rotation attitude peace pan position of this frame of reference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610351930.0A CN105863674B (en) | 2016-05-25 | 2016-05-25 | Pipe sheet assembling apparatus for detecting position and posture and detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610351930.0A CN105863674B (en) | 2016-05-25 | 2016-05-25 | Pipe sheet assembling apparatus for detecting position and posture and detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105863674A true CN105863674A (en) | 2016-08-17 |
| CN105863674B CN105863674B (en) | 2019-03-12 |
Family
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| CN111485892A (en) * | 2020-06-28 | 2020-08-04 | 中国铁建重工集团股份有限公司 | Tube curtain machine pose measuring method and system |
| CN113863966A (en) * | 2021-09-18 | 2021-12-31 | 天津大学 | Segment grabbing pose detection device and detection method based on deep learning vision |
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| FR3120385B1 (en) * | 2021-03-04 | 2023-12-22 | Vinci Construction | Device to assist in the installation of segments |
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| CN110375650A (en) * | 2019-08-15 | 2019-10-25 | 中国铁建重工集团股份有限公司 | A kind of arch pose measuring method and system |
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