CN107309619B - A kind of ship installation point is to position detecting system - Google Patents
A kind of ship installation point is to position detecting system Download PDFInfo
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- CN107309619B CN107309619B CN201710483929.8A CN201710483929A CN107309619B CN 107309619 B CN107309619 B CN 107309619B CN 201710483929 A CN201710483929 A CN 201710483929A CN 107309619 B CN107309619 B CN 107309619B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
A kind of ship installation point is to position detecting system, for realizing the positioning to ship installation point, including processing end, the processing end includes image generation module, described image generation module generates certain bit image for corresponding to the ship installation point, and the positioning image includes centralized positioning area and auxiliary positioning area；Scan orientation device, the Scan orientation device are installed on the end of the manipulator, position and direction of the manipulator for changing the scanner；Calibration terminal, the manipulator receive the calibration command and drive the scanner to act so that the Scan orientation device is with preset pose scanning center positioning area；Precision and the position for guaranteeing scanning result, improve the reliability of scanning, by being directly output to the location information of output in mounting device, so, so that it may a very accurate basis on location is provided, reduce human cost and caused by error.
Description
Technical field
The present invention relates to ship mounting technique fields, more particularly to a kind of ship installation point to position detecting system.
Background technique
Ship (boats and ships), the general name of various ships.Ship is to navigate by water or berth to be transported in waters
Or the vehicles of operation, there is different technical performances, equipment and structural shape by different requirements.
Ship is a kind of man made transportation tools mainly run in geographical water.In addition, inercant ships are commonly referred to as ship, it is military
Ship is known as warship, and small boat is known as ship or boat, is collectively referred to as naval vessel or ships and light boats.It is internal mainly include accommodation space, support construction and
Discharge structure has the propulsion system using the external or included energy.External form is usually to be conducive to overcome the cleanliness of fluid resistance
Envelope, material are constantly updated with scientific and technological progress, are in early days the nature materials such as wood, bamboo, fiber crops, and modern age is mostly steel and aluminium, glass
Glass fiber, acrylic and various composite materials.
And during shipbuilding, it needs that shipbuilding component is installed, and installing is typically all to pass through people
It is positioned to be realized by experience, error is easy to appear in this way, and precision is lower, if available installation point, so that it may directly
It is coupled by grabbing device, reduces human cost, improve installation accuracy and efficiency.
Summary of the invention
In view of this, it is an object of the present invention to provide a kind of ship installation points to position detecting system.
In order to solve the above-mentioned technical problem, the technical scheme is that a kind of ship installation point uses position detecting system
In positioning of the realization to ship installation point, including
Processing end, the processing end include image generation module, and described image generation module is for generating positioning image, institute
It states positioning image and corresponds to the ship installation point setting, the positioning image includes centralized positioning area and auxiliary positioning area, institute
Auxiliary positioning area is stated to be arranged around the centralized positioning area, the positioning image is preset in the ship installation point, and it is described in
Heart positioning area is overlapped with the ship installation point；
Scan orientation device, the Scan orientation device include the scanner of several arrays setting, the scanner according to
What it was scanned positions the defeated feedback signal of image；
Manipulator, the Scan orientation device are installed on the end of the manipulator, and the manipulator is for changing described
The position of scanner and direction；
Calibration terminal, the Scan orientation device connect the calibration terminal, when the scanner scans auxiliary positioning area, institute
It states calibration terminal and receives the feedback signal of each scanner output, and corresponding calibration is exported according to a preset calibration algorithm
Instruction, the manipulator receive the calibration command and drive the scanner to act so that the Scan orientation device is with preset
Pose scanning center positioning area；
The Scan orientation device connects processing end, and the processing end configures a frame of reference, when the Scan orientation
When device scans the centralized positioning area, the processing end obtains the Scan orientation according to the action state of the manipulator and fills
The first pose being placed in the frame of reference, and center is obtained according to the feedback signal of Scan orientation device output and is determined
The relative pose relationship in position area and Scan orientation device, the processing end are closed according to first pose and the relative pose
System obtains coordinate of coordinate of the centralized positioning area in the frame of reference as the ship installation point；
The calibration algorithm includes
The auxiliary positioning area includes several preset image blocks, and the calibration terminal presets correspondence according to described image block
Calibration threshold value, it is described when the calibration threshold value indicates that the Scan orientation device scans described image block with preset pose
Corresponding theoretical value described in feedback signal；
When the Scan orientation device scans the auxiliary positioning area with a pose, the calibration terminal is according to the scanning
The feedback signal of positioning device output judges corresponding image block, and transfers corresponding calibration threshold value according to described image block, and
Difference is asked to obtain error threshold calibration threshold value actual threshold corresponding with feedback signal, the calibration terminal is according to the error
Threshold value generates the corresponding calibration command.
It is arranged in this way, first processing end, which can edit positioning pattern, forms the progress typing of relevant parameter
Corresponding positioning pattern, it is fixed according to auxiliary so then by mechanical hand-motion Scan orientation device scanning to auxiliary positioning area
The figure in position area, calibration terminal can handle the data of feedback, to control manipulator behavior to complete to Scan orientation setting position
So when Scan orientation device covers centralized positioning area, guarantee precision and the position of scanning result with the adjusting of posture
It sets, improves the reliability of scanning, by being directly output to the location information of output in mounting device, so,
One very accurate basis on location can be provided, reduce human cost and caused by error.
It further, further include ship model database, the ship model database is used for storage vessel model；
The Scan orientation device quantity is distributed in the different location of the ship at least more than 6, the machinery
Hand corresponds to the Scan orientation device setting；
The processing end is additionally provided with scanning selecting module, and the scanning selecting module connects the ship model database
And for transferring the corresponding ship model, the scanning selecting module is that each Scan orientation device distributes corresponding scanning
Region, and the corresponding position of preset ship installation point is obtained from the ship model, according to the ship installation point
The scanning area that corresponding position is fallen into drives corresponding Scan orientation device to work.
Be arranged in this way, since general ship volume is larger, a scanning means be moved to installation point nearby need compared with
The long time, and it is more demanding for the moving range of manipulator, so multiple Scan orientation devices are arranged, so, just
Corresponding Scan orientation device can be driven close to installation point according to the region of installation point, the determination in region can pass through ship mould
Type determines, firstly, staff is in corresponding position, by manually will positioning image tagged in the correspondence position of ship body surface
It sets, and works at the same time personnel for corresponding scanning area by processing end typing, can thus drive corresponding mechanical, hand-driven
Corresponding region is accomplished, to carry out Primary Location.
Further, the auxiliary positioning area configures several positioning line segments, described in the extended line of the positioning line segment passes through
The midpoint in centralized positioning area, and determine that position scanner placed in the middle is defined as centre scan in the Scan orientation device
Device；
The calibration algorithm includes the first positioning strategy, and first positioning strategy includes
During scanning, the immediate positioning line segment of scanning element of one Yu central scanner are determined, it is fixed not changing scanning
Position device, according to the sequence of the scanner if the scanning element of other scanners falls into positioning line segment, determines under the premise of
The distance between the scanning element and positioning line segment of central scanner value, and calibration command is generated to protect according to the distance value
The scanning element for holding the central scanner is located on the positioning line segment.
By the first positioning strategy, guarantee that the center of scanner, so, can be with always with positioning line segment to just
Guarantee the phenomenon that scanning result will not cause scanning uneven because of contraposition offset.
Further, the calibration algorithm further includes sweeping to strategy, and described sweep to strategy includes
During scanning, the Scan orientation when scanning element of central scanner is located at the positioning line segment moment
The position of device is recorded as sweeping to point, and at least two adjacent described will sweep to line to generate scanning direction, the place
Reason end controls the further direction of motion of the manipulator according to the scanning direction.And the setting to strategy is swept, in order to true
Scanning direction when scanning surely guarantees scanning direction along positioning line segment direction scanning, so, so that central scanner passes through
The center in centralized positioning area guarantees scanning accuracy.
Further, the positioning line segment is uniformly distributed around the center in the centralized positioning area, the calibration
Algorithm further includes the second positioning strategy, and second positioning strategy includes
When the scanning element of the central scanner is located at certain bit line segment, which is defined as centralized positioning line
Section, then the first left line segment and the first right line segment defined the positioning line segment of centralized positioning line segment two sides respectively；
The serial number that scanning element is located at two scanners of the first left line segment and the first right line segment is obtained, and is swept according to center
It retouches the serial number of device and generates corresponding calibration command with the difference of the serial number of two scanners respectively, described in the calibration command control
Scan orientation device described in mechanical hand-motion makes the scanning so that the central scanner position circumferentially rotates for the center of circle
Point be located at the first left line segment and the first right line segment two scanners variation so that the serial number of central scanner respectively and
The difference of the serial number of two scanners is equal.
So by the setting of the second positioning strategy, so that it may guarantee the circumferential position of Scan orientation device when scanning
It is vertical with centralized positioning line segment, so, the position in centralized positioning area would not be caused to scan because of relative pose relationship
When it is incomplete, while can guarantee scan reliability.
Further, the calibration algorithm further includes third positioning strategy, and the third positioning strategy includes
When the serial number of central scanner is equal with the difference of the serial number of two scanners respectively, centre scan is obtained respectively
The scanning distance value of device and corresponding two scanners, and corresponding calibration command, the school are generated according to scanning distance value
Quasi instruction control Scan orientation device described in the mechanical hand-motion so that the plane of scanning motion of the Scan orientation device with it is described
Plane where positioning image is parallel.
Third positioning strategy passes through detecting distance value, so that it may guarantee plane and the physical plane of the scanning of Scan orientation device
In parallel, error caused by avoiding because of inclination.
It further, further include background data base
The background data base is stored with installation parameter data and corresponding identification code, and the background data base is connected to
The processing end, the positioning image further include several two-dimension code patterns, and the scanner is obtained by scanning the two-dimensional code figure
Identification code, the processing end call the correspondence installation parameter data in the background data base according to the identification code.
When due to installation, need to transfer installation parameter, and the step is directly direct otherwise by two-dimension code pattern knowledge
Corresponding installation parameter data are transferred, so can directly show, export corresponding data, be transferred when as installing component
Data, it is simple and easy, be not necessarily to human intervention.
Further, the Scan orientation device is provided with image collecting device, and described image acquisition device is set to institute
The center for stating Scan orientation device, when the plane of scanning motion of the Scan orientation device covers the centralized positioning area, institute
Image collecting device work is stated to acquire the corresponding image in the centralized positioning area, and described image is sent to the processing end.
By the setting of image collecting device, the image information of corresponding installation point can be directly acquired, is saved, display,
Backstage personnel can transfer analysis in time, assist the progress of installment work.
Further, when the Scan orientation device scans the centralized positioning area, each scanner exports in real time
For scanning distance to the processing end, the processing end receives the scanning distance to form a ship installation point surface shape figure.
By the formation of installation point surface shape figure, corresponding installation can be made with more intuitive understanding mount message
Instruction.
The technology of the present invention effect major embodiment is in the following areas: being arranged in this way, first processing end can will positioning figure
Shape, which is edited, forms corresponding positioning pattern for the progress typing of relevant parameter, then passes through mechanical hand-motion Scan orientation dress
Scanning is set to auxiliary positioning area, in this way according to the figure in auxiliary positioning area, calibration terminal can handle the data of feedback, to control machine
Tool is made manually to complete the adjusting to Scan orientation setting position and posture, so, when Scan orientation device covers center
When positioning area, guarantee precision and the position of scanning result, improve the reliability of scanning, by making the location information of output can be with
Be directly output in mounting device, so, so that it may a very accurate basis on location is provided, reduce human cost with
Error caused by and.
Detailed description of the invention
Fig. 1: system structure of the invention schematic diagram；
Fig. 2: the present invention positions image top view；
Fig. 3: positioning schematic one of the present invention；
Fig. 4: positioning schematic two of the present invention；
Fig. 5: positioning schematic three of the present invention.
Appended drawing reference: 100, calibration terminal；110, manipulator；120, Scan orientation device；200, processing end；300, ship mould
Type database；400, background data base；10, auxiliary positioning area；11, two-dimension code pattern；12, line segment is positioned；20, centralized positioning
Area.
Specific embodiment
Below in conjunction with attached drawing, a specific embodiment of the invention is described in further detail, so that technical solution of the present invention is more
It should be readily appreciated that and grasp.
A kind of ship installation point is to position detecting system, for realizing the positioning to ship installation point, including
Processing end 200, the processing end 200 include image generation module, and described image generation module is fixed for generating
Bit image, the positioning image correspond to ship installation point setting, the positioning image include centralized positioning area 20 and
Auxiliary positioning area 10, the auxiliary positioning area 10 are arranged around the centralized positioning area 20, and the positioning image is preset in
The ship installation point, and the centralized positioning area 20 is overlapped with the ship installation point；First processing end 200 is played pair
The function of generating positioning image, in conjunction with shown in Fig. 2, such as the image such as figure of generation, then staff should according to image
Image copies to the corresponding position of ship, that is to say, that staff needs to increase this image in the installation point of ship, in this way
One, subsequent operation can be carried out by Scan orientation device 120.
Scan orientation device 120, the Scan orientation device 120 includes the scanner of several arrays setting, described to sweep
Retouch the device feedback signal defeated according to the positioning image of its scanning；Infrared range-measurement system, infrared range-measurement system collection can be set into scanner
Transmitter-receiver device, while scanner needs to have the effect of image scanning, by taking Fig. 2 as an example, on black image, then sweeps
The value for retouching device output is " 1 ", and in white image, the value of scanner output is " 0 ", so, so that it may be sentenced according to image
The position of disconnected scanner, posture, and make and timely adjusting.
Manipulator 110, the Scan orientation device 120 are installed on the end of the manipulator 110, the machinery
Position and direction of the hand 110 for changing the scanner；Manipulator 110 can control the fortune of Scan orientation device 120
It moves to arbitrary position or turns to arbitrary angle, the direction of change Scan orientation device 120, and machine in the prior art
Tool hand 110 is it is achieved that so can be using suitable 110 device of manipulator in the prior art, only with output control
Instruction, so that it may the direction of motion of hinged Scan orientation device 120, towards posture.
Calibration terminal 100, the Scan orientation device 120 connect the calibration terminal 100, when scanner scanning is auxiliary
When helping positioning area 10, the calibration terminal 100 receives the feedback signal of each scanner output, and preset according to one
Calibration algorithm exports corresponding calibration command, and the manipulator 110 receives the calibration command and drives the scanner movement
So that the Scan orientation device 120 is with preset pose scanning center positioning area 20；The setting of calibration terminal 100, is played
The effect of data processing is that the picture signal acquired in real time according to scanner adjusts the position of scanner, so that scanner is swept
Scanning direction ecto-entad when retouching that plane is parallel with marine surface, and scanning is vertical to be moved to centralized positioning area 20, together
When guarantee scanner can cover centralized positioning area 20, it is so, relatively reasonable to the detection of center positioning area 20, can
To play higher scanning accuracy, guarantee scanning effect.
The Scan orientation device 120 connects processing end 200, and the processing end 200 configures a frame of reference,
When the Scan orientation device 120 scans the centralized positioning area 20, the processing end 200 is according to the manipulator
110 action state obtains first pose of the Scan orientation device 120 in the frame of reference, and according to institute
The feedback signal for stating the output of Scan orientation device 120 obtains the opposite position in centralized positioning area 20 and Scan orientation device 120
Appearance relationship, the processing end 200 obtain centralized positioning area 20 according to first pose and the relative pose relationship
Coordinate of the coordinate as the ship installation point in the frame of reference；A seat is set in processing end 200 first
Mark system is used as the frame of reference, since the initial position of 110 device of manipulator is it is found that be so obtained with Scan orientation dress
It is placed in the position in coordinate system, and the direction originated is also known quantity, then the court of current scanline positioning device can be obtained
To so, passing through two known quantities, so that it may obtain the first pose, and be reflected according to the first pose and feedback signal
Relative pose relationship (relative pose relationship over-scan device feedback range data obtain), and pass through relative pose relationship, so that it may
To learn the coordinate in centralized positioning area 20, for the coordinate by accurately calculating acquisition, error is smaller, guarantee precision, and mounting portion
When part, only uses in the case where guaranteeing that the frame of reference is constant, which is input in installing component, so that it may obtain to the end
Position.Relative pose relation derivation obtains position to the end, is referred in field of image processing, the calibration of lens imaging pose
The step of algorithm, this will not be repeated here.
Core of the invention is the position of calibration algorithm, if to realize that accurate, covering is comprehensive, scanning is steady
Fixed, location efficiency, it is necessary to have following requirement:
1, since the scan position of Scan orientation device 120 is limited, it is necessary to guarantee the plane generated in sweeping
It is interior, need to cover centralized positioning area 20, so to guarantee the corresponding scanning element of the central scanner of Scan orientation device 120
It always, can be by positioning image understanding at circle, then needing to guarantee that central scanner is corresponding on the center line of positioning image
Scanning element always on circular half radial line, referring to shown in Fig. 3, solid line dot is the corresponding scanning of center scanner
Point, dotted line dot is the corresponding scanning element of other scanners, so finding corresponding radius firstly the need of by solid line dot.
2, on the basis of above condition, in order to guarantee that area covers centralized positioning area 20 as far as possible, then needing
Guarantee that the path of scanning is first moved along same Radius, meanwhile, it needs to guarantee to scan, referring to shown in Fig. 4, needs to control scanning
Positioning device 120 is moved along solid arrow direction, while during needing to guarantee movement, and positioning line segment 12 and dot connect
The line segment that line is formed is mutually perpendicular to, and just can guarantee maximum sweeping area in this way.
3 and according to orthographic projection principle, need to guarantee scanning area maximum, referring to shown in Fig. 5, then need to guarantee to project
It cannot cannot tilt, and phantom line segments indicate the case where projecting when tilting, and needs guarantee the plane of scanning motion formed maximum, it is necessary to
Phantom line segments are moved to the position for realizing section, that is to say, that needing to rotate by manipulator 110 makes Scan orientation device 120
It is parallel with the plane of marine surface.
Shown in sum up, calibration algorithm includes
Auxiliary positioning area 10 includes several preset image blocks, and calibration terminal 100 presets corresponding according to image block
Calibration threshold value, when calibration threshold value indicates Scan orientation device 120 with preset pose scanned image block, feedback signal is corresponding
Theoretical value；
When Scan orientation device 120 scans auxiliary positioning area 10 with a pose, calibration terminal 100 is fixed according to scanning
The feedback signal that position device 120 exports judges corresponding image block, and transfers corresponding calibration threshold value according to image block, and will
Calibration threshold value actual threshold corresponding with feedback signal asks difference to obtain error threshold, and calibration terminal 100 is generated according to error threshold
Corresponding calibration command.
Referring to shown in Fig. 2, the auxiliary positioning area 10 configures several positioning line segments 12, the positioning line segment 12
Extended line passes through the midpoint in the centralized positioning area 20, and determines that a position is placed in the middle in the Scan orientation device 120
Scanner be defined as central scanner, and since scanner is array setting, if so the scanning element of scanner is fallen in
It positions on line segment 12, then can export " 1 ", if do not fallen on positioning line segment 12, " 0 " can be exported, it is possible to root
According to scanner output as a result, judging the position of scanner；
The calibration algorithm includes the first positioning strategy, and first positioning strategy includes
During scanning, determines the immediate positioning line segment 12 of scanning element of one Yu central scanner, do not changing
Scan orientation device 120 is swept if the scanning element of other scanners falls into positioning line segment 12 according to this under the premise of
The sequence for retouching device determines the distance between scanning element and the positioning line segment 12 of central scanner value, and according to the distance
Value generates calibration command to keep the scanning element of the central scanner to be located on the positioning line segment 12, that is to say, that only
It is mobile to control Scan orientation device 120, but does not control the rotation of Scan orientation device 120, principle is as follows, such as scanner
23 are set as, from left to right serial number is followed successively by 1-23, for example, if the signal that the scanner of serial number 20 is fed back is
The signal of " 1 ", other scanners feedback is all " 0 ", then then judge that the scanner captures corresponding positioning line segment 12, and by
In serial number 20, then the serial number 12 of central positioner, it is possible to manipulator 110 be calculated and drive Scan orientation
Device 120 needs the distance moved, ensures that the scanning element of central scanner is located on the line segment of center in this way.
The calibration algorithm further includes sweeping to strategy, and described sweep to strategy includes
During scanning, the scanning when scanning element of central scanner is located at positioning 12 moment of line segment
The position of positioning device 120 is recorded as sweeping to point, and at least two adjacent described will sweep to line to generate scanning side
To the processing end 200 controls the further direction of motion of the manipulator 110 according to the scanning direction.And it sweeps
Retouching direction is a very crucial factor, and when starting scanning, scanning direction has uncertainty, and carries out in scanning modified
In the process, scanning direction can be determined, due to needing to correct the scanning element of central positioner by the first positioning strategy in real time
Projected position, sweep so will appear at least two to point, then be assured that straight line according to two o'clock, so,
Can be obtained by a direction line parallel with positioning line segment 12 directly may determine that manipulator by orientation line
The direction of motion of 110 next step, it should be noted simultaneously that, direction line is determined in time, it is still necessary to timely fixed by first
Position strategy is corrected, and problem is avoided the occurrence of.
The positioning line segment 12 is uniformly distributed around the center in the centralized positioning area 20, and the calibration is calculated
Method further includes the second positioning strategy, and second positioning strategy includes when the scanning element of the central scanner is located at a position line
When section 12, which is defined as centralized positioning line segment 12, then by the positioning of 12 two sides of centralized positioning line segment
The the first left line segment and the first right line segment that line segment 12 defines respectively；
The serial number that scanning element is located at two scanners of the first left line segment and the first right line segment is obtained, and is swept according to center
It retouches the serial number of device and generates corresponding calibration command with the difference of the serial number of two scanners respectively, described in the calibration command control
Manipulator 110 drives the Scan orientation device 120 to circumferentially rotate using the central scanner position as the center of circle, makes
The scanning element is located at the variation of two scanners of the first left line segment and the first right line segment, so that the sequence of central scanner
It is number equal with the difference of the serial number of two scanners respectively.It is arranged in this way, needs to scan the scanning area and reality formed
The positioning line segment 12 on border is vertical, so by way of rotation, so, so that it may so that projecting figure is perpendicular to position line
Section 12, vertically calculated due to directly it is complex, it is vertical then defined vertically by by line bisection by referring to the mode of line
Straight condition is that the scanning element is located at the variation of two scanners of the first left line segment and the first right line segment, so that in
The serial number of heart scanner is equal with the difference of the serial number of two scanners respectively, and being due to positioning line segment 12 is in convergence state,
When difference is equal, then projecting figure is perpendicular to positioning line segment 12, as shown in the solid line of Fig. 4.
Including third positioning strategy, the third positioning strategy includes when the serial number of central scanner is scanned with two respectively
When the difference of the serial number of device is equal, the scanning distance value of central scanner and corresponding two scanners, and root are obtained respectively
Corresponding calibration command is generated according to scanning distance value, the calibration command controls the manipulator 110 and drives the scanning fixed
Position device 120 is parallel with the plane where the positioning image with the plane of scanning motion of the Scan orientation device.In this way
Being arranged flushes total according to distance value, so that Scan orientation device 120 is parallel to scanned plane, improves contact
Stability, and the difference for passing through distance value, so that it may adjust the angle of rotation in real time, improve processing accuracy.
It further include ship model database 300, the ship model database 300 is used for storage vessel model；
120 quantity of Scan orientation device is distributed in the different location of the ship at least more than 6, institute
The corresponding Scan orientation device 120 of manipulator 110 is stated to be arranged；
The processing end 200 is additionally provided with scanning selecting module, and the scanning selecting module connects the ship model
Database 300 is simultaneously used to transfer the corresponding ship model, and the scanning selecting module is each Scan orientation device
120 distribute corresponding scanning area, and the corresponding position of preset ship installation point is obtained from the ship model, according to
The scanning area that the corresponding position of the ship installation point is fallen into drives corresponding Scan orientation device 120 to work.Ship
Model stores in database at the beginning, in three-dimensional format memory data library, due to the quantity of Scan orientation device 120
It is more, it needs to carry out Fuzzy Selection, so selecting corresponding ship installation point on ship model, so, so that it may determine
The ship installation point of corresponding scanning area, e.g. third scanning area is selected, then it is fixed to control corresponding third scanning
Position device 120 works.
It further include background data base 400
The background data base 400 is stored with installation parameter data and corresponding identification code, the background data base
400 are connected to the processing end 200, and the positioning image further includes several two-dimension code patterns 11, and the scanner is by sweeping
It retouches two-dimension code pattern 11 and obtains identification code, the background data base is called according to the identification code in the processing end 200
Correspondence installation parameter data in 400.By the setting of two-dimension code pattern 11, Scan orientation device 120 first has two
The function of code scanning is tieed up, so corresponding identification code can be directly read by way of two-dimensional code scanning, then by distinguishing
The parameter of installation can be obtained by knowing code, such as the number of fitting parts needed, number of element types etc. can be acquired, and such one
Come, so that it may corresponding parameter is directly obtained, it is relatively simple reasonable.
The Scan orientation device 120 is provided with image collecting device, and described image acquisition device is set to described sweep
The center for retouching positioning device 120, when the plane of scanning motion of the Scan orientation device 120 covers the centralized positioning area
When 20, the work of described image acquisition device to acquire the corresponding image in the centralized positioning area 20, and by described image send to
The processing end 200.Pass through the setting of image collecting device, so that it may play the effect of an Image Acquisition, guarantee image energy
It enough timely feedbacks, professional does not need on-the-spot investigation, can make instruction by image, image collecting device can be set
For camera or camera.
When the Scan orientation device 120 scans the centralized positioning area 20, each scanner exports in real time
For scanning distance to the processing end 200, the processing end 200 receives the scanning distance to form a ship installation point table
Face shape graph.And in order to further increase the effect of distal end monitoring, it is scanned by way of virtual image, for example, when opening
It when beginning scanning center's positioning area 20, automatically begins to model, the range data of every scanner feedback is counted, so that it may
Virtual image is drawn, such professional can intuitively see imaging results.
Certainly, above is representative instance of the invention, and in addition to this, the present invention can also have other a variety of specific implementations
Mode, all technical solutions formed using equivalent substitution or equivalent transformation, is all fallen within the scope of protection of present invention.
Claims (9)
1. a kind of ship installation point is to position detecting system, for realizing the positioning to ship installation point, which is characterized in that including
Processing end, the processing end include image generation module, and described image generation module is for generating positioning image, the positioning figure
As the corresponding ship installation point setting, the positioning image includes centralized positioning area and auxiliary positioning area, and the auxiliary is fixed
Position area is arranged around the centralized positioning area, and the positioning image is preset in the ship installation point, and the centralized positioning area
It is overlapped with the ship installation point；
Scan orientation device, the Scan orientation device include the scanner of several array settings, and the scanner is swept according to it
The defeated feedback signal of the positioning image retouched；
Manipulator, the Scan orientation device are installed on the end of the manipulator, and the manipulator is for changing the scanning
The position of device and direction；
Calibration terminal, the Scan orientation device connect the calibration terminal, when the scanner scans auxiliary positioning area, the school
Quasi- end receives the feedback signal of each scanner output, and is referred to according to preset corresponding calibrate of calibration algorithm output
It enables, the manipulator receives the calibration command and drives the scanner to act so that the Scan orientation device is with preset position
Appearance scanning center positioning area；
The Scan orientation device connects processing end, and the processing end configures a frame of reference, when the Scan orientation device
When scanning the centralized positioning area, the processing end obtains the Scan orientation according to the action state of the manipulator and is installed on
The first pose in the frame of reference, and centralized positioning area is obtained according to the feedback signal of Scan orientation device output
With the relative pose relationship of Scan orientation device, the processing end is obtained according to first pose and the relative pose relationship
Coordinate to coordinate of the centralized positioning area in the frame of reference as the ship installation point；
The calibration algorithm includes
The auxiliary positioning area includes several preset image blocks, and the calibration terminal presets corresponding school according to described image block
Quasi- threshold value, when the calibration threshold value indicates that the Scan orientation device scans described image block with preset pose, the feedback
Corresponding theoretical value described in signal；
When the Scan orientation device scans the auxiliary positioning area with a pose, the calibration terminal is according to the Scan orientation
The feedback signal of device output judges corresponding image block, and transfers corresponding calibration threshold value according to described image block, and by institute
Stating calibration threshold value actual threshold corresponding with feedback signal asks difference to obtain error threshold, and the calibration terminal is according to the error threshold
Generate the corresponding calibration command.
2. a kind of ship installation point as described in claim 1 is to position detecting system, which is characterized in that further include ship model
Database, the ship model database are used for storage vessel model；
The Scan orientation device quantity is distributed in the different location of the ship at least more than 6, the manipulator pair
The Scan orientation device is answered to be arranged；
The processing end is additionally provided with scanning selecting module, and the scanning selecting module connects the ship model database and is used in combination
In transferring the corresponding ship model, the scanning selecting module is that each Scan orientation device distributes corresponding scanning area
Domain, and the corresponding position of preset ship installation point is obtained from the ship model, according to pair of the ship installation point
The scanning area that position is fallen into is answered, corresponding Scan orientation device is driven to work.
3. a kind of ship installation point as described in claim 1 is to position detecting system, which is characterized in that the auxiliary positioning area
Several positioning line segments are configured, the extended line of the positioning line segment passes through the midpoint in the centralized positioning area, and fixed in the scanning
Determine that position scanner placed in the middle is defined as central scanner in the device of position；
The calibration algorithm includes the first positioning strategy, and first positioning strategy includes
During scanning, the immediate positioning line segment of scanning element of one Yu central scanner are determined, it is fixed not changing scanning
Position device, according to the sequence of the scanner if the scanning element of other scanners falls into positioning line segment, determines under the premise of
The distance between the scanning element and positioning line segment of central scanner value, and calibration command is generated to protect according to the distance value
The scanning element for holding the central scanner is located on the positioning line segment.
4. a kind of ship installation point as described in claim 3 is to position detecting system, which is characterized in that
The calibration algorithm further includes sweeping to strategy, and described sweep to strategy includes
During scanning, the Scan orientation device when scanning element of central scanner is located at the positioning line segment moment
Position be recorded as sweeping to point, and at least two adjacent described will sweep to line to generate scanning direction, the processing end
The further direction of motion of the manipulator is controlled according to the scanning direction.
5. a kind of ship installation point as described in claim 3 is to position detecting system, which is characterized in that
The positioning line segment is uniformly distributed around the center in the centralized positioning area, and the calibration algorithm further includes second
Positioning strategy, second positioning strategy include
When the scanning element of the central scanner is located at certain bit line segment, which is defined as centralized positioning line segment,
The the first left line segment and the first right line segment that then the positioning line segment of centralized positioning line segment two sides is defined respectively；
The serial number that scanning element is located at two scanners of the first left line segment and the first right line segment is obtained, and according to central scanner
Serial number corresponding calibration command is generated with the difference of the serial number of two scanners respectively, the calibration command controls the machinery
Scan orientation device described in hand-motion makes the scanning element point so that the central scanner position circumferentially rotates for the center of circle
Not Wei Yu the first left line segment and the first right line segment two scanners serial number variation so that the serial number of central scanner respectively and
The difference of the serial number of two scanners is equal.
6. a kind of ship installation point as described in claim 5 is to position detecting system, which is characterized in that the calibration algorithm is also
Including third positioning strategy, the third positioning strategy includes
When the serial number of central scanner is equal with the difference of the serial number of two scanners respectively, respectively obtain central scanner with
And the scanning distance value of corresponding two scanners, and corresponding calibration command is generated according to scanning distance value, the calibration refers to
Enable Scan orientation device described in the control mechanical hand-motion so that the Scan orientation device the plane of scanning motion and the positioning
Plane where image is parallel.
7. a kind of ship installation point as described in claim 1 is to position detecting system, which is characterized in that further include back-end data
Library
The background data base is stored with installation parameter data and corresponding identification code, and the background data base is connected to described
Processing end, the positioning image further include several two-dimension code patterns, and the scanner obtains identification by scanning the two-dimensional code figure
Code, the processing end calls the correspondence installation parameter data in the background data base according to the identification code.
8. a kind of ship installation point as described in claim 1 is to position detecting system, which is characterized in that the Scan orientation dress
It installs and is equipped with image collecting device, described image acquisition device is set to the center of the Scan orientation device, when described
When the plane of scanning motion of Scan orientation device covers the centralized positioning area, described image acquisition device works to acquire the center
The corresponding image of positioning area, and described image is sent to the processing end.
9. a kind of ship installation point as described in claim 1 is to position detecting system, which is characterized in that the Scan orientation dress
When setting the scanning centralized positioning area, each scanner exports scanning distance to the processing end, the processing end in real time
The scanning distance is received to form a ship installation point surface shape figure.
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