CN105863674B - Pipe sheet assembling apparatus for detecting position and posture and detection method - Google Patents

Pipe sheet assembling apparatus for detecting position and posture and detection method Download PDF

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Publication number
CN105863674B
CN105863674B CN201610351930.0A CN201610351930A CN105863674B CN 105863674 B CN105863674 B CN 105863674B CN 201610351930 A CN201610351930 A CN 201610351930A CN 105863674 B CN105863674 B CN 105863674B
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China
Prior art keywords
jurisdiction
pipe sheet
sheet assembling
posture
image
Prior art date
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CN201610351930.0A
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Chinese (zh)
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CN105863674A (en
Inventor
程永亮
徐震
彭正阳
梅勇兵
容锦
罗建利
苏翠侠
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中国铁建重工集团有限公司
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Priority to CN201610351930.0A priority Critical patent/CN105863674B/en
Publication of CN105863674A publication Critical patent/CN105863674A/en
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Publication of CN105863674B publication Critical patent/CN105863674B/en

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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21DSHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D11/00Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
    • E21D11/04Lining with building materials
    • E21D11/08Lining with building materials with preformed concrete slabs

Abstract

The invention discloses a kind of pipe sheet assembling apparatus for detecting position and posture and detection methods.Pipe sheet assembling apparatus for detecting position and posture includes: reference mark unit and image acquisition units, and reference mark unit is for being fixed on the pose coordinate system for determining section of jurisdiction on section of jurisdiction.Image acquisition units are used to acquire the image of section of jurisdiction and analyze image to obtain the pose coordinate system of section of jurisdiction, to obtain the rotation attitude peace pan position of section of jurisdiction relative datum coordinate system, the frame of reference is preset according to the position to be installed of section of jurisdiction.Above-mentioned pipe sheet assembling apparatus for detecting position and posture, due to presetting the frame of reference and the setting reference mark unit on section of jurisdiction, it therefore can be only with the image of single photographic device (being based on monocular vision) acquisition section of jurisdiction, section of jurisdiction can be obtained relative to the rotation attitude of the frame of reference and translation position by analyzing image, reference is provided for the control of section of jurisdiction, so as to realize the accurate assembly of section of jurisdiction.

Description

Pipe sheet assembling apparatus for detecting position and posture and detection method

Technical field

The present invention relates to duct piece assembling machine technical fields, more specifically, are related to a kind of pipe sheet assembling apparatus for detecting position and posture And detection method.

Background technique

Currently, Domestic Shield machine pipe sheet assembling system according to the observation of human eye and by the way of remote control to the system of execution into Row control is to realize pipe sheet assembling, however, positioning accuracy is poor, applies during using the progress assembly of this Segment assembling method Work speed is slower, causes construction totle drilling cost relatively high.

In addition, external used light to cut the shield machine that method calculates the automatic pipe sheet assembling of progress, the section of jurisdiction of the shield machine is certainly Dynamic assembling device cuts position and the form of method structure active vision technology detection assembling section of jurisdiction using light, can cut on picture and show in light Show the positioning scenarios for having set section of jurisdiction, assemble the clamping/revolution and assembling positioning of elevator, can determine coarse localization and subtle fixed Position, this system use structure light active vision technology, it is therefore desirable to have specific laser source, need to install three groups of lasers and One group of camera shooting unit causes inconvenience to installation, and required space is larger.

In recent years occur being positioned using electromagnetic induction method and binocular vision.However, then there is essence in electromagnetic induction method Spend deficiency that is limited, and being susceptible to environmental disturbances;And binocular vision is located then due to that must configure at least two imaging sensors It manages computing capability and requires height, thus volume and cost cannot be all effectively reduced.And these positioning devices, it is necessary to have specially Navigation system software and computer, at the same must in advance the coordinate system to the coordinate system of tunnel environment and positioning device, figure As coordinate system, three is registrated, bulky, with high costs, brings great inconvenience to user.

Summary of the invention

Embodiment of the present invention aims to solve at least one of the technical problems existing in the prior art.For this purpose, the present invention is real The mode of applying 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, comprising: reference mark unit and image acquisition units, the reference mark list Member determines the pose coordinate system of the section of jurisdiction for being fixed on section of jurisdiction.The image acquisition units are used to acquire the image of the section of jurisdiction And analyze the image to obtain the pose coordinate system of the section of jurisdiction, thus obtain the section of jurisdiction relative datum coordinate system rotation attitude and Position is translated, which presets according to the position to be installed of the section of jurisdiction.

The pipe sheet assembling apparatus for detecting position and posture of embodiment of the present invention, due to presetting the frame of reference and on section of jurisdiction Reference mark unit is set, therefore can be passed through only with the image of single photographic device (being based on monocular vision) acquisition section of jurisdiction Analysis image can obtain section of jurisdiction relative to the rotation attitude of the frame of reference and translation position, provide ginseng for the control of section of jurisdiction It examines, so as to realize the accurate assembly of section of jurisdiction.And due to being based on monocular vision, keep pipe sheet assembling apparatus for detecting position and posture small in size Ingeniously, easy to operate and cost is relatively low.

In some embodiments, which is fixed on the section of jurisdiction by rigid connection.

In some embodiments, which is fixed on the position that the section of jurisdiction is not influenced by the segment deformation On.

In some embodiments, which includes at least two planes of connection being not parallel to each other, this is extremely Few two planes are total to a line, and each planographic has feature dot pattern.

In some embodiments, at least two plane is mutually orthogonal.

In some embodiments, which includes man-machine interaction unit, the human-computer interaction list Member is for carrying out human-computer interaction and showing rotation attitude peace pan position of the section of jurisdiction with respect to the frame of reference.

In some embodiments, which includes embedded processing systems and image collecting device, this is embedding Enter formula processing system and connects the image collecting device and the man-machine interaction unit.

In some embodiments, which includes image application processor, random storage chip, storage Device and network interface, the image application processor connect the image collecting device, the random storage chip and memory connection The image application processor, the network interface connect the image application processor and the man-machine interaction unit.

In some embodiments, which includes the display panel with touch screen, which uses In the rotation attitude peace pan position for showing the opposite frame of reference in the section of jurisdiction.

In some embodiments, which includes voice prompt device, and the voice prompt device is for mentioning Show rotation attitude peace pan position of the section of jurisdiction with respect to the frame of reference.

A kind of pipe sheet assembling position and posture detection method, comprising steps of

The frame of reference is preset according to the position to be installed of the section of jurisdiction;

Reference mark unit is fixed on to the pose coordinate system that the section of jurisdiction is determined on section of jurisdiction;And

It acquires the image of the section of jurisdiction and analyzes the image to obtain the pose coordinate system of the section of jurisdiction, to obtain the section of jurisdiction phase To the rotation attitude peace pan position of the frame of reference.

Therefore, the pipe sheet assembling position and posture detection method of embodiment of the present invention, due to preset the frame of reference and Reference mark unit is set on section of jurisdiction, therefore can be only with the figure of single photographic device (being based on monocular vision) acquisition section of jurisdiction Picture can obtain section of jurisdiction relative to the rotation attitude of the frame of reference and translation position by analyzing image, be the control of section of jurisdiction Reference is provided, so as to realize the accurate assembly of section of jurisdiction.And due to being based on monocular vision, make pipe sheet assembling position and posture detection method It is easy to operate and cost is relatively low.

In some embodiments, which includes at least two planes of connection being not parallel to each other, this is extremely Few two planes are total to a line, and each planographic has feature dot pattern.

In some embodiments, pipe sheet assembling position and posture detection method further comprises the steps of:

Show rotation attitude peace pan position of the section of jurisdiction with respect to the frame of reference.

In some embodiments, pipe sheet assembling position and posture detection method further comprises the steps of:

Rotation attitude peace pan position of the voice prompting section of jurisdiction with respect to the frame of reference.

The additional aspect and advantage of embodiment of the present invention will be set forth in part in the description, partially will be from following Become obvious in description, or the practice of embodiment is recognized through the invention.

Detailed description of the invention

The above-mentioned and/or additional aspect and advantage of embodiment of the present invention retouch embodiment from conjunction with following accompanying drawings It will be apparent and be readily appreciated that in stating, in which:

Fig. 1 is the module diagram of the pipe sheet assembling apparatus for detecting position and posture of embodiment according to 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 of embodiment according to the present invention Figure;

Fig. 3 is another module diagram of the pipe sheet assembling apparatus for detecting position and posture of embodiment according to the present invention;

Fig. 4 is the another module diagram of the pipe sheet assembling apparatus for detecting position and posture of embodiment according to the present invention;

Fig. 5 is another module diagram of the pipe sheet assembling apparatus for detecting position and posture of embodiment according to the present invention;

Fig. 6 is the flow diagram of the pipe sheet assembling position and posture detection method of embodiment according to the present invention;

Fig. 7 is another flow diagram of the pipe sheet assembling position and posture detection method of embodiment according to the present invention;

Fig. 8 is another flow diagram of the pipe sheet assembling position and posture detection method of embodiment according to the present invention.

Specific embodiment

Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.

In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the One ", the feature of " second " can explicitly or implicitly include one or more feature.In description of the invention In, the meaning of " plurality " is two or more, unless otherwise specifically defined.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can To be mechanical connection, it is also possible to be electrically connected or can be in communication with each other;It can be directly connected, it can also be by between intermediary It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.

Following disclosure provides many different embodiments or example is used to realize different structure of the invention.In order to Simplify disclosure of the invention, hereinafter to the component of specific examples and being set for describing.Certainly, they are merely examples, and And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter, This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with Recognize the application of other techniques and/or the use of other materials.

It 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 the pose coordinate system for determining section of jurisdiction 200 on section of jurisdiction 200.Image Acquisition Unit 104 is used to acquire the image of section of jurisdiction 200 and analyzes image to obtain the pose coordinate system of section of jurisdiction 200, to obtain section of jurisdiction The rotation attitude peace pan position of 200 relative datum coordinate systems.The frame of reference is set in advance according to the position to be assembled of section of jurisdiction 200 It is fixed.

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 Reference mark unit is set on section of jurisdiction 200, therefore can be only with single photographic device (being based on monocular vision) acquisition section of jurisdiction 200 image can obtain section of jurisdiction 200 relative to the rotation attitude of the frame of reference and translation position by analyzing image, be The control of section of jurisdiction 200 provides reference, so as to realize the accurate assembly of section of jurisdiction 200.And due to being based on monocular vision, make section of jurisdiction Assembled 100 compact of apparatus for detecting position and posture, easy to operate and cost is relatively low.

Specifically, reference mark unit 102 is fixed on section of jurisdiction 200 by rigid connection, so can guarantee reference mark Unit 102 is fixed on section of jurisdiction 200.

Reference mark unit 102 is used for the determining pose coordinate system based on section of jurisdiction 200, and therefore, reference mark unit 102 needs With the relatively fixed connection in section of jurisdiction 200, both opposite relative motion is avoided to influence the stability of pose coordinate system.In this embodiment party In formula, 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 the position that section of jurisdiction 200 is not influenced by 200 deformation of section of jurisdiction On.

Likewise, can so guarantee the stability of reference mark unit 102, in case reference mark unit 102 is by section of jurisdiction The influence of deformation causes the stability of pose coordinate system to be deteriorated, influences assembled operation precision.

The frame of reference can be preset according to the position to be assembled of section of jurisdiction 200.For example, in 200 assembly of section of jurisdiction to wait spell Before holding position, the frame of reference can be established to position to be assembled, and the frame of reference is stored in pipe sheet assembling pose detection dress It sets in 100.

Therefore, image acquisition units 104 are when acquiring image, according to the position for the section of jurisdiction 200 that reference mark unit 102 determines The comparison of appearance coordinate system and the frame of reference just can obtain rotation attitude and translational shifting of the section of jurisdiction 200 relative to the frame of reference It sets.

In some embodiments, Fig. 2 please be join, reference mark unit 102 includes at least two to be not parallel to each other of connection Plane 108, at least two planes are total to a line, and each plane 108 is printed with feature dot pattern 110.

Therefore, by least two planes 108 being not parallel to each other, the pose coordinate system based on section of jurisdiction 200 can be determined.Mutually Pipe sheet assembling position can be improved though increasing calculation amount when coordinate conversion to a certain extent in not parallel non-orthogonal planes 108 The applicability of appearance detection device 100.Preferably, reference mark unit 102 includes three to be not parallel to each other the plane 108 of connection.

In some embodiments, Fig. 2 please be join, at least two planes 108 are mutually orthogonal.

Specifically, in embodiments of the present invention, preferably, reference mark unit 102 includes the mutually orthogonal of connection Three planes 108.Therefore, three mutually orthogonal planes 108, advantageously reduce calculation amount when pipe sheet assembling.

In addition, the feature dot pattern 110 of reference mark unit 102 supports coding, even if there are multiple and different fiducial marks When will unit 102, it also can work normally and do not interfere with each other.User can be with the different size of reference mark unit of flexible choice 102.Easy to operate due to the compact of reference mark unit 102, cost is relatively low, and it is existing assembled fixed to gradually replace Position detection pattern.In one example, reference mark unit 102 is formed using at least two pieces of steel plate connections.

In some embodiments, Fig. 1 please be join, which includes man-machine interaction unit 106, man-machine interaction unit 106 is used to carry out human-computer interaction and shows that the section of jurisdiction is peaceful with respect to the rotation attitude of the frame of reference Pan position.

Therefore, operator can be made to quickly understand the rotation attitude peace pan position of section of jurisdiction in this way, be the quick of section of jurisdiction Installation and accurate control provide reference.Man-machine interaction unit 106 is, for example, mobile terminal, can be taken with oneself by operator 400 Band is bonded in operating room.

In some embodiments, Fig. 3 please be join, image acquisition units 104 include that embedded processing systems 112 and image are adopted Acquisition means 114, embedded processing systems 112 connect image collecting device 114 and man-machine interaction unit 106.

Specifically, embedded processing systems 112 include image application processor 116, random storage chip 118, memory 120 and network interface 122, image application processor 116 connects image collecting device 114, random storage chip 118 and memory 120 connection image application processors 116, network interface 122 connect image application processor 116 and man-machine interaction unit 106.Cause This, using embedded processing systems 112, it is ensured that the low cost and small size of pipe sheet assembling apparatus for detecting position and posture 100.

Image application processor 116 is, for example, embeded processor.Memory 120 can be used for storing program firmware and image Resulting data are acquired, the assembled accurate pose such as section of jurisdiction 200.

Network interface 122 is, for example, the network interface being arranged on local area network interface card, is also possible to other types Network interface.

Image collecting device 114 may include CMOS digital image sensor, and image collecting device 114 can for example pass through screw hole It is rigidly connected on pipe sheet assembling device 300, pipe sheet assembling device 300 generally comprises the manipulator of grasping pipe piece 200, and image is adopted Acquisition means 114 can be fixed to during 200 assembly of section of jurisdiction, on the position that pipe sheet assembling device 300 remains stationary.In section of jurisdiction During 200 assembly, the image of the acquisition section of jurisdiction 200 in real time of image collecting device 114, embedded processing systems 112 are according to adopting The image collected obtains the rotation attitude peace pan position of 200 relative datum coordinate system of section of jurisdiction.

In some embodiments, Fig. 4 please be join, man-machine interaction unit 106 includes the display panel 124 with touch screen, Display panel 124 is used to show the rotation attitude peace pan position of 200 relative datum coordinate system of section of jurisdiction.

Specifically, in one example, display panel 124 is the liquid crystal display with touch screen.Therefore, there is touch-control The liquid crystal display of screen, operating position is alterable, to facilitate the assembled operation of operator 400.For example, operator 400 can be placed on liquid crystal display in maneuverable place, and input user instruction by touch screen to control associated picture Display and pipe sheet assembling apparatus for detecting position and posture 100 control.

In some embodiments, Fig. 5 please be join, man-machine interaction unit 106 includes voice prompt device 126, voice prompting Device 126 is used to prompt the rotation attitude peace pan position of 200 relative datum coordinate system of section of jurisdiction.

Specifically, voice prompt device 126 may include loudspeaker.Voice prompt device 126 be convenient to operation personnel 400 behaviour Make pipe sheet assembling device.For example, being carried out after operator 400 can hear the prompt of voice prompt device 126 to the position of section of jurisdiction Adjustment, therefore, in the position adjustment of section of jurisdiction, operator 400 is not necessarily to observe the rotation attitude and translational shifting of section of jurisdiction 200 The display set also is able to achieve the adjustment to section of jurisdiction position, significantly reduces the working strength and operation difficulty of operator.

In conclusion the pipe sheet assembling apparatus for detecting position and posture 100 of embodiment of the present invention, because having used Image Acquisition base The optical alignment of quasi- tag unit 102 replaces traditional machinery positioning, and further uses monocular vision and embedded processing system System 112 replaces electromagnetic location and binocular visual positioning device and matched large-scale assembled navigation system, so that section of jurisdiction The volume and weight of assembled apparatus for detecting position and posture 100 is greatly reduced.

Since during the navigation process, pipe sheet assembling device 300 is not physically contacted with reference mark unit 102, to keep away Exempt from the physical disturbance to reference mark unit 102, improves the stability of navigation device.

Simultaneously using digital image sensor acquisition image and after the processing of image application processor 116, available pipe The assembled accurate pose of piece 200, the accurate pose of pipe sheet assembling are storable in memory 120, substantially increase navigation dress The flexibility and convenience set.

In operation, pipe sheet assembling apparatus for detecting position and posture 100 has sound and doubling of the image prompt facility, also greatly Ground reduces the working strength and operation difficulty of operator 400.Small and exquisite volume and shirtsleeve operation process, then more reduce The learning difficulty of user and requirement to assembled environment.

It please join Fig. 6, a kind of pipe sheet assembling position and posture detection method that embodiment of the present invention provides, comprising steps of

S0 presets the frame of reference according to the position to be installed of the section of jurisdiction;

Reference mark unit is fixed on the pose coordinate system that section of jurisdiction is determined on section of jurisdiction by S1;And

S2 acquires the image of section of jurisdiction and analyzes the image to obtain the pose coordinate system of section of jurisdiction, so that it is opposite to obtain section of jurisdiction The rotation attitude peace pan position of the frame of reference.

Therefore, the pipe sheet assembling position and posture detection method of embodiment of the present invention, due to preset the frame of reference and Reference mark unit is set on section of jurisdiction 200, therefore can be only with single photographic device (being based on monocular vision) acquisition section of jurisdiction 200 Image, by analyze image can obtain section of jurisdiction 200 relative to the rotation attitude of the frame of reference and translation position, be section of jurisdiction 200 control provides reference, so as to realize the accurate assembly of section of jurisdiction 200.And due to being based on monocular vision, make pipe sheet assembling Position and posture detection method is easy to operate and cost is relatively low.

It should be noted that the embodiment of the above-mentioned explanation to pipe sheet assembling apparatus for detecting position and posture is also applied for this The pipe sheet assembling position and posture detection method of embodiment is no longer developed in details herein to avoid redundancy.

In some embodiments, reference mark unit include connection at least two planes being not parallel to each other, at least two A plane is total to a line, and each planographic has feature dot pattern.

It should be noted that the embodiment of the above-mentioned explanation to pipe sheet assembling apparatus for detecting position and posture is also applied for this The pipe sheet assembling position and posture detection method of embodiment is no longer developed in details herein to avoid redundancy.

In some embodiments, Fig. 7 please be join, the pipe sheet assembling position and posture detection method further comprises the steps of:

S3 shows rotation attitude peace pan position of the section of jurisdiction with respect to the frame of reference.

It should be noted that the embodiment of the above-mentioned explanation to pipe sheet assembling apparatus for detecting position and posture is also applied for this The pipe sheet assembling position and posture detection method of embodiment is no longer developed in details herein to avoid redundancy.

In some embodiments, Fig. 8 please be join, the pipe sheet assembling position and posture detection method further comprises the steps of:

S4, the rotation attitude peace pan position of voice prompting section of jurisdiction relative datum coordinate system.

It should be noted that the embodiment of the above-mentioned explanation to pipe sheet assembling apparatus for detecting position and posture is also applied for this The pipe sheet assembling position and posture detection method of embodiment is no longer developed in details herein to avoid redundancy.

In the description of this specification, reference term " embodiment ", " certain embodiments ", " schematically implementation What the description of mode ", " example ", " specific example " or " some examples " etc. meant to describe in conjunction with the embodiment or example Particular features, structures, materials, or characteristics are contained at least one embodiment or example of the invention.In this specification In, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific spy of description Sign, structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.

In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include at least one described feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, Three etc., unless otherwise specifically defined.

Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion Point, and the range of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussed suitable Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be of the invention Embodiment person of ordinary skill in the field understood.

Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings Interconnecting piece (mobile terminal), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media His suitable method is handled electronically to obtain described program, is then stored in computer storage.

It should be appreciated that each section of the invention can be realized with hardware, software, firmware or their combination.Above-mentioned In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene Programmable gate array (FPGA) etc..

Those skilled in the art are understood that realize all or part that above embodiment method carries Step is that relevant hardware can be instructed to complete by program, and the program can store in a kind of computer-readable storage In medium, described program when being executed, includes the steps that one or a combination set of method implementation.

In addition, each functional unit in each embodiment of the present invention can integrate in a processing module, it can also To be that each unit physically exists alone, can also be integrated in two or more units in a module.It is above-mentioned integrated Module both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module If in the form of software function module realize and when sold or used as an independent product, also can store one calculating In machine read/write memory medium.Storage medium mentioned above can be read-only memory, disk or CD etc..

Although embodiments of the present invention have been shown and described above, it is to be understood that above embodiment is Illustratively, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be right Above embodiment is changed, modifies, replacement and variant.

Claims (14)

1. a kind of pipe sheet assembling apparatus for detecting position and posture characterized by comprising
Reference mark unit, the reference mark unit are used to be fixed on section of jurisdiction and are sat with the pose for determining the mobile assembled section of jurisdiction Mark system;And
Image acquisition units, the image acquisition units are used to acquire the image of the section of jurisdiction and analyze the image to obtain the section of jurisdiction Pose coordinate system, to obtain the rotation attitude peace pan position of the section of jurisdiction relative datum coordinate system, the frame of reference according to The position to be installed of the section of jurisdiction is preset, which includes image collecting device, and the image collecting device is at this The opposite frame of reference is remained stationary to acquire the figure of the section of jurisdiction in real time during the pipe sheet assembling during pipe sheet assembling Picture.
2. pipe sheet assembling apparatus for detecting position and posture as described in claim 1, which is characterized in that the reference mark unit passes through rigidity It is fastened on the section of jurisdiction.
3. pipe sheet assembling apparatus for detecting position and posture as described in claim 1, which is characterized in that the reference mark unit is fixed on this On the position that section of jurisdiction is not influenced by the segment deformation.
4. pipe sheet assembling apparatus for detecting position and posture as described in claim 1, which is characterized in that the reference mark unit includes connection At least two planes being not parallel to each other, which is total to a line, and each planographic has feature dot pattern.
5. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 4, which is characterized in that at least two plane is mutually just It hands over.
6. pipe sheet assembling apparatus for detecting position and posture as described in claim 1, which is characterized in that the pipe sheet assembling apparatus for detecting position and posture Include:
Man-machine interaction unit, the man-machine interaction unit is for carrying out human-computer interaction and showing the section of jurisdiction with respect to the frame of reference Rotation attitude peace pan position.
7. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 6, which is characterized in that the image acquisition units include insertion Formula processing system, the embedded processing systems connect the image collecting device and the man-machine interaction unit.
8. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 7, which is characterized in that the embedded processing systems include figure As application processor, random storage chip, memory and network interface, the image application processor connect the image collector It sets, the random storage chip and the memory connect the image application processor, which connects image application processing Device and the man-machine interaction unit.
9. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 6, which is characterized in that the man-machine interaction unit includes having The display panel of touch screen, the display panel is for showing rotation attitude and translational shifting of the section of jurisdiction with respect to the frame of reference It sets.
10. pipe sheet assembling apparatus for detecting position and posture as claimed in claim 9, which is characterized in that the man-machine interaction unit includes language Sound suggestion device, the voice prompt device is for prompting rotation attitude peace pan position of the section of jurisdiction with respect to the frame of reference.
11. a kind of pipe sheet assembling position and posture detection method, which is characterized in that comprising steps of
The frame of reference is preset according to the position to be installed of the section of jurisdiction;
Reference mark unit is fixed on to the pose coordinate system that the mobile assembled section of jurisdiction is determined on section of jurisdiction;And
The image of the image acquisition device section of jurisdiction simultaneously analyzes the image to obtain the pose coordinate system of the section of jurisdiction, to obtain Rotation attitude peace pan position of the section of jurisdiction with respect to the frame of reference, the image collecting device phase during pipe sheet assembling The frame of reference is remained stationary to acquire the image of the section of jurisdiction in real time during the pipe sheet assembling.
12. pipe sheet assembling position and posture detection method as claimed in claim 11, which is characterized in that the reference mark unit includes connecting At least two planes being not parallel to each other connect, at least two plane are total to a line, and each planographic has feature dot pattern.
13. pipe sheet assembling position and posture detection method as claimed in claim 11, which is characterized in that further comprise the steps of:
Show rotation attitude peace pan position of the section of jurisdiction with respect to the frame of reference.
14. pipe sheet assembling position and posture detection method as claimed in claim 13, which is characterized in that further comprise the steps of:
Rotation attitude peace pan position of the voice prompting section of jurisdiction with respect to the frame of reference.
CN201610351930.0A 2016-05-25 2016-05-25 Pipe sheet assembling apparatus for detecting position and posture and detection method CN105863674B (en)

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