CN111618550A - Flexible matching system for augmented reality auxiliary assembly of missile cabin and monitoring method - Google Patents
Flexible matching system for augmented reality auxiliary assembly of missile cabin and monitoring method Download PDFInfo
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- CN111618550A CN111618550A CN202010418447.6A CN202010418447A CN111618550A CN 111618550 A CN111618550 A CN 111618550A CN 202010418447 A CN202010418447 A CN 202010418447A CN 111618550 A CN111618550 A CN 111618550A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
A flexible mating system for augmented reality assisted assembly of missile bay sections, comprising: the system comprises a radial opening and closing mechanism, a vertical lifting mechanism, an axial sliding mechanism, a fixed adjusting mechanism, a calibration reference adjusting mechanism and a plurality of visual sensors, wherein the radial opening and closing mechanism controls the system to move in the Y-axis direction, the vertical lifting mechanism controls the system to move in the Z-axis direction, the radial opening and closing mechanism and the vertical lifting mechanism are adjusted to adapt to missile cabin sections with different diameters, the axial sliding mechanism controls the system to move in the X-axis direction to adjust the axial relative position with the missile cabin sections, the visual sensors are arranged on the fixed adjusting mechanism to collect the element information of the assembly process of the missile cabin sections, and the calibration reference adjusting mechanism is arranged on the radial opening and closing mechanism and moves along with the radial opening and closing mechanism. The method is suitable for AR auxiliary assembly of missile cabin sections with different diameters, accurate three-dimensional registration is achieved by establishing a three-dimensional coordinate system of an AR auxiliary assembly environment with consistent virtual and real dimensions, and assembly efficiency is improved.
Description
Technical Field
The invention relates to a technology in the field of missile cabin segment assembly, in particular to a flexible matching system and a monitoring method for missile cabin segment augmented reality auxiliary assembly.
Background
In recent years, Augmented Reality (AR) technology has attracted much attention and has been used in the life cycle of industrial products. The missile cabin assembly has the characteristics of complex component mechanism and high technical content of products. In the prior art, missile butt joint and part assembly are mainly completed by simple mechanical equipment and manual assembly, and the requirements on the technical level and the operation experience of workers are high. The conventional cabin section tooling only considers the condition of manual assembly generally, and for cabin space assembly work, operators need to assemble cabin sections from multiple angles at multiple positions. Therefore, if the augmented reality technology is adopted for auxiliary assembly, a plurality of augmented reality tracking marks and a plurality of vision sensors are needed to be used so as to ensure seamless superposition display of augmented reality auxiliary assembly information, and further, higher requirements are provided for the placing positions of the tracking marks and the vision sensors.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a flexible matching system and a monitoring method for augmented reality auxiliary assembly of a missile cabin segment, wherein a visual sensor and an AR tracking mark are conveniently and quickly fixed through the flexible matching system, so that the guided missile cabin segment auxiliary assembly based on the AR technology is conveniently carried out, meanwhile, the tracking mark and relative position parameters of the missile cabin segment are quickly and accurately calibrated, the automatic initialization of augmented reality auxiliary assembly of the missile cabin segment based on the AR tracking mark is realized, and a foundation is provided for the augmented reality auxiliary assembly work of the subsequent missile cabin segment.
The invention is realized by the following technical scheme:
the invention relates to a flexible matching system for augmented reality auxiliary assembly of missile bay sections, which comprises: radial mechanism, vertical lift mechanism, axial sliding mechanism, fixed adjustment mechanism, calibration reference adjustment mechanism and a plurality of visual sensor that open and shut, wherein: the radial opening and closing mechanism controls the system to move in the Y-axis direction, the vertical lifting mechanism controls the system to move in the Z-axis direction, the radial opening and closing mechanism and the vertical lifting mechanism are adjusted to adapt to missile cabin sections with different diameters, the axial sliding mechanism controls the system to move in the X-axis direction to adjust the axial relative position of the radial opening and closing mechanism and the missile cabin sections, the visual sensor is arranged on the fixed adjusting mechanism to collect element information of the assembly process of the missile cabin sections, and the calibration reference adjusting mechanism is arranged on the radial opening and closing mechanism and moves along with the radial opening and closing mechanism to assist in generating AR assembly.
The radial opening and closing mechanism comprises: gyro wheel support frame, linear guide, positive and negative lead screw and servo motor, wherein: the servo motor provides kinetic energy for the positive and negative screw rods so as to drive the roller support frame to reversely slide on the linear guide rail.
The vertical lifting mechanism comprises: perpendicular lead screw, guide pillar guide pin bushing subassembly and servo motor, wherein: the servo motor provides kinetic energy for the vertical screw rod and drives the system to move vertically under the guidance of the guide pillar and guide sleeve assembly.
The fixed adjustment mechanism includes: camera holding frame, vertical pole setting and horizontal pole, wherein: the camera clamping frame is arranged on the horizontal cross rod and moves along the horizontal cross rod, and the longitudinal vertical rod is matched with the horizontal cross rod.
The invention relates to a monitoring method of a flexible matching system for augmented reality auxiliary assembly of a missile cabin, which comprises the steps of processing a cabin section sectional image through an image acquisition algorithm, namely performing CAD (computer-aided design) modeling on the missile cabin and extracting a three-dimensional bounding box, acquiring CAD (computer-aided design) model projection of the missile cabin, combining acquisition of a field image, calculating an acquired mark position matrix and extracting DOT-SIG (DOT-SIG) image characteristics, performing image characteristic matching, calculating an initial offset matrix and a projection residual error, optimizing parameters, finally determining calibration relative position parameters after acquiring an optimal offset matrix, selecting visual angles of a plurality of visual sensors for multiple times of calibration, acquiring optimal relative position parameters, and realizing the accurate calibration of the system and the missile cabin.
Technical effects
The invention integrally solves the problem that the existing missile cabin fixture is difficult to fix and calibrate the visual sensor and the AR tracking mark in the prior art, quickly fixes the visual sensor and the AR tracking mark through a flexible matching system, calibrates the relative position relation between the AR tracking mark and the missile cabin through image characteristics, and realizes the initialization work of the tracking mark-based missile cabin AR auxiliary assembly.
Compared with the prior art, the method can quickly and accurately calibrate the relative position parameters of the AR tracking mark and the missile cabin section, is suitable for augmented reality auxiliary assembly of missile cabin sections with different diameters, fixes the relative position relation between the missile and the tooling, calibrates the relative position parameters of the tooling and the missile cabin section by acquiring the tooling image and the missile cabin section image and utilizing an image characteristic based on global gradient, establishes a three-dimensional coordinate system of an augmented reality auxiliary assembly environment with consistent virtual and real dimensions, and realizes accurate three-dimensional registration of visual information of the augmented reality auxiliary assembly of the missile cabin section by combining the element information of the assembly process acquired by a visual sensor on the tooling, thereby improving the cognitive accuracy degree of assembly personnel on the assembly process information and further improving the assembly efficiency.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a schematic view of a radial opening and closing mechanism;
FIG. 3 is a schematic view of a vertical lift mechanism;
FIG. 4 is a schematic view of a fixed adjustment mechanism;
FIG. 5 is a schematic of the process of the present invention;
FIG. 6 is an algorithmic flow chart of the method of the present invention;
in the figure: the device comprises a supporting plate 1, a radial opening and closing mechanism 2, a vertical lifting mechanism 3, an axial sliding mechanism 4, a fixed adjusting mechanism 5, a calibration object reference adjusting mechanism 6, a first visual sensor 7, a second visual sensor 8, a missile cabin section 9, a roller supporting frame 10, a linear guide rail 11, a positive and negative screw rod 12, a servo motor 13, a vertical screw rod 14, a guide post and guide sleeve assembly 15, a servo motor 16, a camera clamping frame 17, a longitudinal upright rod 18 and a horizontal cross rod 19.
Detailed Description
As shown in fig. 1, the present embodiment relates to a flexible fitting system for augmented reality assisted assembly of missile bay sections, comprising: backup pad 1, radial mechanism 2 that opens and shuts, vertical lift mechanism 3, axial sliding mechanism 4, fixed adjustment mechanism 5, calibration reference adjustment mechanism 6, a second vision sensor 8 that is used for part discernment 7 and is used for part to target in place to detect and assemble the action detection, wherein: the radial opening and closing mechanism 2 is arranged on the support plate 1 and controls the motion of the system in the Y-axis direction, the vertical lifting mechanism 3 is arranged below the support plate 1 and controls the motion of the system in the Z-axis direction, the radial opening and closing mechanism 2 and the vertical lifting mechanism 3 are adjusted to adapt to missile cabin sections 9 with different diameters, the axial sliding mechanism 4 is connected with the vertical lifting mechanism 3 and controls the motion of the system in the X-axis direction, the radial opening and closing mechanism 2, the vertical lifting mechanism 3 and the axial sliding mechanism 4 are matched with each other to adapt to the relative position relation between the missile cabin section 9 and a fixing system for the axial depth change of the assembling operation plane of the missile cabin section 9, the first visual sensor 7 and the second visual sensor 8 both move along a horizontal cross rod and a longitudinal vertical rod of the fixed adjusting mechanism 5, two-degree-of-freedom adjustment is realized, the assembling process element information of the missile cabin section 9 is acquired, and the calibration reference adjusting mechanism 6 is arranged on the radial opening and closing mechanism 2 and moves along with the assembling process element information to assist in generating AR assembling information.
The assembly process element information comprises: part identification, part in-place information and assembling action detection information in the assembling process of the missile cabin section 9.
As shown in fig. 2, the radial opening and closing mechanism 2 includes: roller support frame 10, linear guide 11, positive and negative lead screw 12 and servo motor 13, wherein: the servo motor provides kinetic energy for the positive and negative screw rods to drive the roller support frames to reversely slide on the linear guide rails, so that different intervals between the roller support frames are realized.
As shown in fig. 3, the vertical lift mechanism 3 includes: perpendicular lead screw 14, guide pillar and guide pin bushing subassembly 15 and servo motor 16, wherein: the servo motor provides kinetic energy for the vertical screw rod and is guided by the guide pillar and guide sleeve assembly, vertical movement of the support plate 1 is achieved, and the distance between the support plate 1 and the missile cabin section 9 is controlled.
As shown in fig. 4, the fixed adjusting mechanism 5 includes: camera holding frame 17, vertical pole 18 and horizontal pole 19, wherein: the camera clamping frame is arranged on the horizontal cross rod and moves along the horizontal cross rod, and the longitudinal vertical rod is matched with the horizontal cross rod.
As shown in fig. 5 and 6, the present embodiment relates to a monitoring method of the above system, which specifically includes the following steps:
1) designing a suitable tracking mark for augmented reality auxiliary assembly according to the parameters of the missile bay section 9 and different stages of assembly, and fixing the designed corresponding tracking mark on a system at the determined assembly stage;
2) at a suitable distance d0The image acquisition system is utilized to acquire a field image I of the section of the augmented reality marker and the missile cabin section 9 in a short distancecThe tracking mark in the camera visual field is ensured to be complete, and the auxiliary lighting equipment and the background plate are adopted to ensure sufficient illumination;
3) identifying an augmented reality tracking marker in a field image, acquiring a six-dimensional pose relationship between a camera and the tracking marker to obtain a tracking marker pose matrix TM；
4) Extracting a three-dimensional bounding box (3D bounding Box, 3D-BBX) of the CAD model corresponding to the missile cabin section 9 in a virtual environment, selecting each surface on the 3D-BBX of the CAD model, and utilizing a pose matrix TMProjecting under a world coordinate system of a virtual environment, overlapping with a field image and segmenting a Region of Interest (ROI) to obtain a template image { I }t1,It2,It3,It4,It5,It6}；
5) For field image IcAnd template image { It1,It2,It3,It4,It5,It6Is divided intoRespectively extracting Image characteristics, carrying out Image matching according to DOT-SIG (DOT-SIG) characteristics, and calculating an initial offset matrix T of a tracking mark and a field missile bay section 9Or；
6) In-tracking marker pose matrix TMOn the basis of the initial offset matrix TOrCarrying out re-projection on the cabin CAD model, calculating the projection residual error between the model and the missile cabin 9 real object, and optimizing the offset matrix TOrSo that the model projection and the cabin segment real object are completely coincided to obtain the optimal offset matrix TO0；
7) At different distances d1,d2,…,dnRepeating the steps to obtain a plurality of offset matrixes TO1,TO2,…,TOn,And obtaining an optimal offset matrix T through global optimizationO。
The visual sensor and the tracking mark are kept relatively static with the missile cabin section 9 in the assembling process, and when the visual sensor and the tracking mark are calibrated, relative movement occurs and needs to be calibrated again.
Through specific practical experiments, under the environment setting of the assembly of a certain type of missile cabin, images with the resolution of 1920 x 1080 are collected for cabin calibration, the average calibration time can be 12.23s, the average calibration relative scale error is 1.9%, and the calibration parameter format is a 4 x 4 matrix.
Compared with the prior art, the method has the advantages that the relative position relation between the missile and the tooling is fixed through the flexible matching system, the accurate and rapid calibration of the relative position parameters of the tooling and the cabin is realized by acquiring the tooling image and the missile cabin image and utilizing the image characteristics based on the global gradient, the time for manually adjusting the position parameters in the prior art is reduced, the calibration error in the prior art is reduced, the three-dimensional registration precision is improved, and the assembly work efficiency is improved.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (4)
1. A flexible mating system for augmented reality assisted assembly of missile bay sections, comprising: radial mechanism, vertical lift mechanism, axial sliding mechanism, fixed adjustment mechanism, calibration reference adjustment mechanism and a plurality of visual sensor that open and shut, wherein: the system comprises a radial opening and closing mechanism, a vertical lifting mechanism, a visual sensor, a radial sliding mechanism, a radial opening and closing mechanism, a vertical lifting mechanism, a fixed adjusting mechanism, a vertical sliding mechanism, a radial sliding mechanism, a vertical sliding mechanism and a vertical lifting mechanism, wherein the radial opening and closing mechanism controls the system to move in the Y-axis direction, the vertical lifting mechanism controls the system to move in the Z-axis direction, the radial opening and closing mechanism and the vertical lifting mechanism are adjusted to adapt to missile cabin sections with different diameters, the axial sliding mechanism controls the system to move in the X-axis direction so as to adjust the axial relative;
the assembly process element information comprises: identifying parts, acquiring part in-place information and assembling action detection information in the missile cabin assembly process;
the radial opening and closing mechanism comprises: gyro wheel support frame, linear guide, positive and negative lead screw and servo motor, wherein: the servo motor provides kinetic energy for the positive and negative screw rods to drive the roller support frame to slide reversely on the linear guide rail;
the vertical lifting mechanism comprises: perpendicular lead screw, guide pillar guide pin bushing subassembly and servo motor, wherein: the servo motor provides kinetic energy for the vertical screw rod and drives the system to vertically move under the guidance of the guide pillar and guide sleeve assembly;
the fixed adjustment mechanism includes: camera holding frame, vertical pole setting and horizontal pole, wherein: the camera clamping frame is arranged on the horizontal cross rod and moves along the horizontal cross rod, and the longitudinal vertical rod is matched with the horizontal cross rod.
2. The system of claim 1, wherein the visual sensor comprises: the part identification visual sensor and the part in-place detection and assembly action detection visual sensor move along the horizontal cross rod and the longitudinal vertical rod of the fixed adjusting mechanism, so that two-degree-of-freedom adjustment is realized and information is acquired.
3. A monitoring method of the system according to claim 1 or 2, characterized in that an image acquisition algorithm is used for processing a cabin section sectional image, namely, CAD modeling is carried out on a missile cabin section, a three-dimensional bounding box is extracted, CAD model projection of the missile cabin section is obtained, DOT-SIG image characteristics are obtained by combining acquisition of a field image and calculation of an acquired mark position matrix, then image characteristic matching is carried out, an initial offset matrix and a projection residual are calculated, parameters are optimized, finally, a calibration relative position parameter is determined after an optimal offset matrix is obtained, a plurality of visual sensor viewing angles are selected for carrying out multiple times of calibration, the optimal relative position parameter is obtained, and accurate calibration of the system and the missile cabin section is realized.
4. A method of monitoring as claimed in claim 3, including the steps of:
1) designing a suitable tracking mark for augmented reality auxiliary assembly according to missile bay section parameters and different stages of assembly, and fixing the designed corresponding tracking mark on a system at a determined assembly stage;
2) at a suitable distance d0Acquiring a field image I of the augmented reality marker and the cross section of the missile cabin section in a short distance by using the image acquisition systemcThe tracking mark in the camera visual field is ensured to be complete, and the auxiliary lighting equipment and the background plate are adopted to ensure sufficient illumination;
3) identifying an augmented reality tracking marker in a field image, acquiring a six-dimensional pose relationship between a camera and the tracking marker to obtain a tracking marker pose matrix TM；
4) Extracting a three-dimensional Bounding Box (3D Bounding Box, 3D-BBX) of the CAD model corresponding to the missile bay section 9 in a virtual environment, selecting each surface on the 3D-BBX of the CAD model, and utilizing a pose matrix TMProjecting under a world coordinate system of a virtual environment, overlapping with a field image and segmenting a Region of Interest (ROI) to obtain a template image { I }t1,It2,It3,It4,It5,It6}；
5) For field image IcAnd template image { It1,It2,It3,It4,It5,It6Respectively extracting image characteristics, carrying out image matching according to DOT-SIG characteristics, and calculating an initial offset matrix T of a tracking mark and a field missile bay section 9Or；
6) In-tracking marker pose matrix TMOn the basis of the initial offset matrix TOrCarrying out re-projection on the cabin CAD model, calculating the projection residual error between the model and the missile cabin 9 real object, and optimizing the offset matrix TOrSo that the model projection and the cabin segment real object are completely coincided to obtain the optimal offset matrix TO0；
7) At different distances d1,d2,…,dnRepeating the steps to obtain a plurality of offset matrixes TO1,TO2,…,TOnAnd acquiring an optimal offset matrix T through global optimizationO；
The visual sensor and the tracking mark are kept relatively static with the missile cabin section in the assembling process, and when the visual sensor and the tracking mark are calibrated, relative movement occurs and needs to be calibrated again.
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