CN112734842A - Auxiliary positioning method and system for centering installation of large ship equipment - Google Patents
Auxiliary positioning method and system for centering installation of large ship equipment Download PDFInfo
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Abstract
The invention provides an auxiliary positioning method for centering installation of large-scale equipment of a ship, which comprises the steps of providing target equipment and at least equipment to be installed; setting a plurality of characteristic points on both target equipment and equipment to be installed; acquiring a detection image by using at least three visual imaging devices, and extracting first position and orientation information of the feature points in the detection image; measuring second position and attitude information between the plurality of feature points and the target equipment and the equipment to be installed; and establishing a three-dimensional model based on the detection image and the visual imaging relation, calculating relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information, and assisting the equipment to be installed to move to a centering installation area according to the relative pose information. The invention adopts stereoscopic vision pose measurement, and can accurately measure the pose of large equipment by using the identification point information; by adopting a plurality of sets of stereoscopic vision devices and fusing the calculation process, the pose calculation precision can be further improved, and an auxiliary system and method are provided for the centering installation of large-scale ship equipment.
Description
Technical Field
The invention belongs to the field of pose information detection of large equipment, and particularly relates to a centering installation auxiliary positioning method and system for large ship equipment.
Background
The ship system comprises a plurality of large-scale equipment, and during construction and installation, the large-scale equipment needs to follow accurate relative poses, such as different equipment with pipeline interconnection relation and different equipment with hard rotating shafts for interconnection. In order to exert the optimal design effect of each large-scale device, each large-scale device needs to be accurately and relatively positioned in the installation process. In the traditional method, manual repeated measurement and calculation positioning is adopted, or laser auxiliary positioning is adopted, so that the auxiliary efficiency in the installation process is low, the global installation condition cannot be mastered in real time, and the automation degree of the whole positioning system is low.
The image measurement is a non-contact measurement method, and can capture and measure a plurality of characteristic points simultaneously in the field of view of a camera lens to obtain the global condition of the measured object. Based on a multi-view geometry and perspective projection algorithm, under the condition that internal parameters of a known camera are known and a plurality of characteristic point world coordinates of an observed object and corresponding image coordinates are known, the actual pose information of the observed object relative to the camera can be calculated. And (3) stereo vision measurement, which is relative to a monocular camera, can obtain the depth information of the image and calculate the three-dimensional information of the feature points. And measuring the stereoscopic vision pose and detecting the relative installation pose between large-scale equipment.
Disclosure of Invention
The method aims at the problems that in the traditional centering and installation process of large-scale equipment of ships, the relative pose is difficult to calculate and estimate, manual work is used, the efficiency is low, the construction and installation are influenced, and the like. The invention provides an auxiliary positioning method and system for centering installation of large-scale equipment of ships, which adopts stereoscopic vision pose measurement and can accurately measure the pose of the large-scale equipment by means of identification point information; by adopting a plurality of sets of stereoscopic vision devices and fusing the calculation process, the pose calculation precision can be further improved, and an auxiliary system and method are provided for the centering installation of large-scale ship equipment.
In order to achieve the above object, according to a first aspect of the present invention, there is provided a method for assisting positioning of a large-scale marine equipment in centering installation, including:
providing target equipment, and placing at least equipment to be installed on the same horizontal plane of the target equipment; a plurality of characteristic points are arranged on the target equipment and the equipment to be installed;
arranging at least three visual imaging devices so that each feature point is within the field of view of the visual imaging devices; acquiring a detection image comprising a plurality of feature points by using at least three visual imaging devices, and extracting first position and orientation information of the feature points in the detection image; measuring the actual position relation between the plurality of feature points and the target equipment and the equipment to be installed, and acquiring second position and attitude information;
establishing a three-dimensional model based on a visual imaging relation between the detection image and a visual imaging device, calculating relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information, and assisting the equipment to be installed to move to a centering installation area according to the relative pose information;
the visual imaging device comprises at least two viewpoints, image acquisition is carried out on the target equipment and the equipment to be installed through the at least two viewpoints, parallax images between the two viewpoints are extracted, and stereo matching is carried out on the parallax images to obtain the detection images.
Furthermore, the viewpoint is a monocular camera, the visual imaging device comprises two monocular cameras, optical axes of the two monocular cameras are parallel and perpendicular to a base line, and the base line is a connecting line of the optical centers of the two monocular cameras.
Further, the using at least three visual imaging devices in acquiring the detection image including the feature points comprises:
calibrating the internal and external parameters of the monocular camera by using a Zhangyingyou calibration algorithm;
and correcting the visual distortion of the detected image according to the displacement matrix and the rotation matrix among the visual imaging devices and the internal and external parameters of the monocular camera.
Further, the building a three-dimensional model based on the visual imaging relationship between the detection image and the visual imaging device comprises:
establishing a three-dimensional first coordinate system in the detection image, and extracting first position and orientation information of the feature points in the first coordinate system; establishing a three-dimensional second coordinate system in the physical space of the ship, and measuring and acquiring third posture information of the second coordinate system between the visual imaging devices;
and establishing a three-dimensional model according to the third pose information and the space mapping relation of the first coordinate system and the second coordinate system based on a multi-view geometric method.
Further, the calculating the relative pose information of the target device and the device to be installed in the three-dimensional model according to the first and second pose information includes:
obtaining the relative poses of the feature point and the target equipment and equipment to be installed through measurement to form second pose information; and acquiring the relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information.
Further, the assisting the device to be installed to move to the centering installation area according to the relative pose information comprises:
calculating corresponding installation area pose information according to the relative pose information of the target equipment and the equipment to be installed in the three-dimensional model; and the at least three visual imaging devices continuously acquire multi-frame detection images comprising a plurality of feature points, and acquire the relative pose information in real time based on the detection images.
According to a second aspect of the present invention, there is provided a positioning assisting system for centering installation of large-scale equipment of a ship, comprising:
the device comprises target equipment and at least equipment to be installed, wherein the target equipment and the equipment to be installed are positioned on the same horizontal plane; the target equipment and the equipment to be installed are provided with a plurality of characteristic points;
at least three visual imaging devices for acquiring a detection image including a plurality of the feature points; wherein each of the feature points is within a field of view of the visual imaging device;
the first position and orientation processing module is used for extracting first position and orientation information of the feature points from the detected image;
the second attitude processing module is used for measuring the actual position relation between the plurality of characteristic points and the target equipment and the equipment to be installed, and acquiring second attitude information;
the auxiliary positioning module is used for establishing a three-dimensional model based on a visual imaging relation between the detection image and the visual imaging device, calculating relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information, and assisting the equipment to be installed to move to a centering installation area according to the relative pose information;
wherein the visual imaging apparatus comprises:
the system comprises at least two viewpoints, a target device and a device to be installed, wherein the viewpoints are used for simultaneously acquiring images of the target device and the device to be installed;
and the imaging system is used for extracting the parallax image between the two viewpoints to perform stereo matching to obtain the detection image.
Further, the viewpoint is a monocular camera; wherein,
the vision imaging device comprises two monocular cameras, optical axes of the two monocular cameras are parallel and perpendicular to a base line, and the base line is a connecting line of the optical centers of the two monocular cameras.
Further, the auxiliary positioning module comprises:
the first positioning submodule is used for establishing a three-dimensional first coordinate system in the detection image, extracting pixel coordinates of the feature points in the first coordinate system and forming first position and orientation information;
the second positioning submodule is used for forming second pose information by acquiring the relative poses of the feature point and the target equipment and equipment to be installed;
the third positioning submodule is used for establishing a three-dimensional second coordinate system in the physical space of the ship, and measuring and acquiring third posture information of the second coordinate system between the visual imaging devices;
and the three-dimensional modeling submodule is used for establishing a three-dimensional model according to the third pose information and the space mapping relation of the first coordinate system and the second coordinate system based on a multi-view geometric method, and is also used for acquiring the relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information.
According to a third aspect of the present invention, there is provided a computer readable medium storing a computer program for execution by an electronic device, which computer program, when run on the electronic device, causes the electronic device to perform the method as described above.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
aiming at the problems that in the process of centering and installing various large-scale equipment of the traditional ship, the relative pose is difficult to calculate and estimate, manual work is used, the efficiency is low, and the construction and installation are influenced. The invention provides an auxiliary positioning system and method for centering installation of large-scale equipment of a ship, which adopts stereoscopic vision pose measurement and can accurately measure the pose of the large-scale equipment by means of identification point information; by adopting a plurality of sets of stereoscopic vision devices and fusing the calculation process, the pose calculation precision can be further improved, and an auxiliary system and method are provided for the centering installation of large-scale ship equipment. The method comprises the steps of marking characteristic points in the large-scale equipment, matching and fusing the characteristic points and the relative pose relationship of the ship equipment, the relative pose relationship among the stereoscopic vision devices and characteristic point information collected by the stereoscopic vision devices to obtain the space pose relationship of the ship equipment in a three-dimensional model, and therefore centering installation is assisted.
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Fig. 1 is an exemplary diagram of the arrangement of the positions of the ship equipment and the stereoscopic vision device in the auxiliary positioning method for the centering installation of the large ship equipment, which can be realized according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
It should be noted that the term "first \ second" referred to in the present invention is only used for distinguishing similar objects, and does not represent a specific ordering for the objects, and it should be understood that "first \ second" may be interchanged in a specific order or sequence, if allowed. It should be understood that "first \ second" distinct objects may be interchanged under appropriate circumstances such that embodiments of the invention described herein may be practiced in sequences other than those described or illustrated herein.
The technical problem to be solved by the invention is as follows: in the traditional centering and installing process of various large-scale equipment of a ship, the relative pose is difficult to calculate and estimate, and the construction and installation are influenced. The system and the method are used for assisting in centering and installing large ship equipment, a plurality of sets of stereoscopic vision imaging systems are built for centering and installing the large ship equipment, the accurate relative pose between the two large ship equipment is obtained, and quick and accurate assisting in positioning of centering and installing the large equipment is achieved.
According to a specific embodiment, the invention provides a system and a method for assisting positioning in centering installation of ship equipment, as shown in fig. 1, comprising the following steps:
step 1: providing target equipment, and placing at least equipment to be installed on the same horizontal plane of the target equipment; specifically, as shown in fig. 1, a ship device is taken as a research object, and if a ship device J is installed, the ship device K needs to be installed in a precise centering manner.
Step 2: at least three visual imaging devices are deployed around marine facility J, K; specifically, the visual imaging device is a stereoscopic visual imaging device, the stereoscopic imaging device comprises at least two viewpoints, the at least two viewpoints are used for simultaneously carrying out image acquisition on target equipment and equipment to be installed, and parallax images between the two viewpoints are extracted to carry out stereoscopic matching to obtain detection images. Preferably, the viewpoint is a monocular camera, and the visual imaging device comprises two monocular cameras, optical axes of the two monocular cameras are parallel and perpendicular to a base line, and the base line is a connecting line of optical centers of the two monocular cameras. More preferably, there are four visual imaging devices.
In this embodiment, a set of stereoscopic imaging devices, namely a stereoscopic viewing device A, B, C, D, is arranged around the marine facility J, K, as shown in fig. 1.
And step 3: a plurality of characteristic points are arranged on the ship equipment J, K, and the actual relative poses among the characteristic points are grasped; specifically, for each set of stereoscopic vision imaging devices, feature points need to be selected in advance around the outer surface of the marine facility J, K, and each feature point is within the field of view of the visual imaging device; preferably, the feature points are identification points or are added with artificial features. More specifically, at least four first feature points are symmetrically provided on the marine facility J; at least four second characteristic points are symmetrically arranged on the ship equipment K; wherein, the first characteristic point and the second characteristic point are positioned on the same horizontal plane. Preferably, the first characteristic point and the second characteristic point are 4 vertexes of a coplanar plane of an inscribed rectangle using an outer contour of the marine facility J, K.
And 4, step 4: measuring second attitude information between the plurality of feature points and the marine vessel facility J, K; specifically, in the present embodiment, the current pose of the marine vessel J, K and the relative actual poses of the identification features of the external surface are obtained by measurement: for the four first feature points of the marine vessel J, the relative pose acquired using the stereo vision device A, B, C, D is (T)J toA,RJ toA),(TJ toB,RJ toB),(TJ toC,RJ toC),(TJ toD,RJ toD) For the four second feature points of the marine vessel K, the relative pose acquired using the stereo vision device A, B, C, D is (T)K toA,RK toA),(TK toB,RK toB),(TK toC,RK toC),(TK toD,RK toD)。
And 5: calibrating the inside and outside parameters of the monocular camera in the stereo vision device A, B, C, D using a Zhangyou calibration algorithm; and correcting the visual distortion of the detected image according to the displacement matrix and the rotation matrix among the visual imaging devices and the internal and external parameters of the monocular camera. Specifically, the focal length, the center point coordinates, the lens distortion parameters and the like of each single camera are known, and each stereoscopic vision imaging system is calibrated on line to obtain a mutual rotation matrix R and a translation matrix T among the stereoscopic cameras.
Step 6: establishing a three-dimensional second coordinate system in a physical space of the ship, and measuring and acquiring third posture information of the second coordinate system between the visual imaging devices; specifically, the pose values of the respective stereoscopic vision devices A, B, C, D in the world coordinate system are accurately measured and set in advance, preferably, with the device a as the origin, by measuring the world coordinate system pose of the respective stereoscopic vision device A, B, C, D as (0)camA,RcamA),(TcamB,RcamB),(TcamC,RcamC),(TcamD,RcamD)。
And 7: extracting first attitude information of the feature points in the detection image; specifically, a three-dimensional first coordinate system is established in the detection image, and first position information of the feature point in the first coordinate system is extracted. More specifically, for the previously selected identification points or artificial features, the image coordinates are obtained by using a feature detection and matching algorithm, and the world coordinates are reconstructed based on a multi-view geometric method, so that the world coordinates (T) of the identification features can be respectively obtainedA,RA),(TB,RB),(TC,RC),(TD,RD)。
And 8: the relative pose of the feature point and the ship equipment J, K is obtained through measurement, second pose information is formed, a three-dimensional model is established according to the third pose information and the space mapping relation of the first coordinate system and the second coordinate system, and the space pose information of the ship equipment J, K in the three-dimensional model is obtained through a feature point fusion algorithm. Specifically, for the spatial pose of the marine vessel J, K, the spatial position relationship between the characteristic point and the marine vessel J, K, that is, the second pose information is used; after the three-dimensional model is established, the acquired first and second attitude information are matched and fused into the three-dimensional model. Specifically, the pose information (T) of the to-be-centered installation part of the marine vessel J, K under the stereoscopic vision device A, B, C, D is obtained through continuous calculationJ A,RJ A),(TJ B,RJ B),(TJ C,RJ C),(TJ D,RJ D)， (TK A,RK A),(TK B,RK B),(TK C,RK C),(TK D,RK D)。
And step 9: in the present embodiment, the spatial pose information (T) of the relative pose of the marine vessel apparatus J, K in the three-dimensional model can be further setJ A,RJ A),(TJ B,RJ B),(TJ C,RJ C),(TJ D,RJ D)，(TK A,RK A),(TK B,RK B),(TK C,RK C),(TK D,RK D) And performing accurate fusion. Specifically, the pose information under the stereoscopic vision device A, B, C, D has different positions, position accuracy and rotation accuracy in different axial directions according to different directions, and a higher pose estimation result can be obtained through a fusion algorithm. According to a preferred embodiment, the spatial pose information (T) is averagedJ A,RJ A),(TJ B,RJ B),(TJ C,RJ C),(TJ D,RJ D)，(TK A,RK A),(TK B,RK B),(TK C,RK C),(TK D,RK D) The accurate pose information of the acquisition device J, K in the three-dimensional model is (T) through calculation of the average value, respectivelyJ,RJ),(TK,RK)。
Step 10: relative pose information of the ship equipment J, K is obtained through calculation, and the accurate relative pose of the to-be-centered installation position of the ship equipment J, K is determined by (T)J,RJ) And (T)K,RK) Obtained, is denoted as (T)K-J,RK-J) The device can be used for assisting the high-precision centering installation of ship equipment. In particular, according to the target device and the installation to be installedPreparing relative pose information of the three-dimensional model, and calculating pose information of a corresponding middle installation area; at least three visual imaging devices continuously acquire multi-frame detection images comprising a plurality of feature points, and relative pose information is acquired in real time based on the detection images.
According to another specific embodiment, the invention provides a marine vessel equipment centering installation auxiliary positioning system, comprising:
the device comprises target equipment and at least equipment to be installed, wherein the target equipment and the equipment to be installed are positioned on the same horizontal plane; the target equipment and the equipment to be installed are provided with a plurality of characteristic points;
at least three visual imaging devices for acquiring a detection image including a plurality of the feature points; wherein each of the feature points is within a field of view of the visual imaging device;
the first position and orientation processing module is used for extracting first position and orientation information of the feature points from the detected image;
the second attitude processing module is used for measuring the actual position relation between the plurality of characteristic points and the target equipment and the equipment to be installed, and acquiring second attitude information;
the auxiliary positioning module is used for establishing a three-dimensional model based on a visual imaging relation between the detection image and the visual imaging device, calculating relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information, and assisting the equipment to be installed to move to a centering installation area according to the relative pose information;
wherein the visual imaging apparatus comprises:
the system comprises at least two viewpoints, a target device and a device to be installed, wherein the viewpoints are used for simultaneously acquiring images of the target device and the device to be installed;
and the imaging system is used for extracting the parallax image between the two viewpoints to perform stereo matching to obtain the detection image.
Specifically, the viewpoint is a monocular camera; wherein,
the visual imaging device comprises two monocular cameras, optical axes of the two monocular cameras are parallel and vertical to a base line, and the base line is a connecting line of the optical centers of the two monocular cameras.
Specifically, the auxiliary positioning module includes:
the first positioning submodule is used for establishing a three-dimensional first coordinate system in the detection image, extracting pixel coordinates of the feature points in the first coordinate system and forming first position and orientation information;
the second positioning submodule is used for forming second pose information by acquiring the relative poses of the feature point and the target equipment and equipment to be installed;
the third positioning submodule is used for establishing a three-dimensional second coordinate system in the physical space of the ship, and measuring and acquiring third posture information of the second coordinate system between the visual imaging devices;
and the three-dimensional modeling submodule is used for establishing a three-dimensional model according to the third pose information and the space mapping relation of the first coordinate system and the second coordinate system based on a multi-view geometric method, and is also used for acquiring the relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information.
According to another specific embodiment of the present invention, a computer-readable medium is provided, which stores a computer program for execution by an electronic device, and when the computer program runs on the electronic device, causes the electronic device to perform the above method.
It should be understood that any process or method descriptions in flow charts of the present invention or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A centering installation auxiliary positioning method for large ship equipment is characterized by comprising the following steps:
providing target equipment, and placing at least equipment to be installed on the same horizontal plane of the target equipment; a plurality of characteristic points are arranged on the target equipment and the equipment to be installed;
arranging at least three visual imaging devices so that each feature point is within the field of view of the visual imaging devices; acquiring a detection image comprising a plurality of feature points by using at least three visual imaging devices, and extracting first position and orientation information of the feature points in the detection image; measuring the actual position relation between the plurality of feature points and the target equipment and the equipment to be installed, and acquiring second position and attitude information;
establishing a three-dimensional model based on a visual imaging relation between the detection image and a visual imaging device, calculating relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information, and assisting the equipment to be installed to move to a centering installation area according to the relative pose information;
the visual imaging device comprises at least two viewpoints, image acquisition is carried out on the target equipment and the equipment to be installed through the at least two viewpoints, parallax images between the two viewpoints are extracted, and stereo matching is carried out on the parallax images to obtain the detection images.
2. The centering installation auxiliary positioning method for large-scale marine equipment according to claim 1, wherein the viewpoint is a monocular camera, the visual imaging device includes two monocular cameras, optical axes of the two monocular cameras are parallel and perpendicular to a base line, and the base line is a connecting line of the optical centers of the two monocular cameras.
3. The method for assisting positioning in centering installation of large-scale marine equipment according to claim 1 or 2, wherein the using at least three visual imaging devices in acquiring the detection image including the feature points comprises:
calibrating the internal and external parameters of the monocular camera by using a Zhangyingyou calibration algorithm;
and correcting the visual distortion of the detected image according to the displacement matrix and the rotation matrix among the visual imaging devices and the internal and external parameters of the monocular camera.
4. The method for assisting positioning in centering installation of large-scale marine equipment according to claim 1 or 2, wherein the establishing of the three-dimensional model based on the visual imaging relationship between the detection image and the visual imaging device comprises:
establishing a three-dimensional first coordinate system in the detection image, and extracting first position and orientation information of the feature points in the first coordinate system; establishing a three-dimensional second coordinate system in the physical space of the ship, and measuring and acquiring third posture information of the second coordinate system between the visual imaging devices;
and establishing a three-dimensional model according to the third pose information and the space mapping relation of the first coordinate system and the second coordinate system based on a multi-view geometric method.
5. The method for assisting positioning in centering installation of large-scale marine equipment according to claim 4, wherein the calculating of the relative attitude information of the target equipment and the equipment to be installed in the three-dimensional model according to the first and second attitude information comprises:
obtaining the relative poses of the feature point and the target equipment and equipment to be installed through measurement to form second pose information; and acquiring the relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information.
6. The method for assisting positioning of centering installation of large-scale marine equipment according to claim 5, wherein the assisting of the equipment to be installed in moving to a centering installation area according to the relative pose information comprises:
calculating corresponding installation area pose information according to the relative pose information of the target equipment and the equipment to be installed in the three-dimensional model; and the at least three visual imaging devices continuously acquire multi-frame detection images comprising a plurality of feature points, and acquire the relative pose information in real time based on the detection images.
7. The utility model provides a boats and ships main equipment centering installation assistance-localization real-time system which characterized in that includes:
the device comprises target equipment and at least equipment to be installed, wherein the target equipment and the equipment to be installed are positioned on the same horizontal plane; the target equipment and the equipment to be installed are provided with a plurality of characteristic points;
at least three visual imaging devices for acquiring a detection image including a plurality of the feature points; wherein each of the feature points is within a field of view of the visual imaging device;
the first position and orientation processing module is used for extracting first position and orientation information of the feature points from the detected image;
the second attitude processing module is used for measuring the actual position relation between the plurality of characteristic points and the target equipment and the equipment to be installed, and acquiring second attitude information;
the auxiliary positioning module is used for establishing a three-dimensional model based on a visual imaging relation between the detection image and the visual imaging device, calculating relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information, and assisting the equipment to be installed to move to a centering installation area according to the relative pose information;
wherein the visual imaging apparatus comprises:
the system comprises at least two viewpoints, a target device and a device to be installed, wherein the viewpoints are used for simultaneously acquiring images of the target device and the device to be installed;
and the imaging system is used for extracting the parallax image between the two viewpoints to perform stereo matching to obtain the detection image.
8. The centering auxiliary positioning system for the large-scale equipment of ships according to claim 7, wherein the viewpoint is a monocular camera; wherein,
the vision imaging device comprises two monocular cameras, optical axes of the two monocular cameras are parallel and perpendicular to a base line, and the base line is a connecting line of the optical centers of the two monocular cameras.
9. The centering auxiliary positioning system for large-scale equipment of ships according to claim 7 or 8, wherein the auxiliary positioning module comprises:
the first positioning submodule is used for establishing a three-dimensional first coordinate system in the detection image, extracting pixel coordinates of the feature points in the first coordinate system and forming first position and orientation information;
the second positioning submodule is used for forming second pose information by acquiring the relative poses of the feature point and the target equipment and equipment to be installed;
the third positioning submodule is used for establishing a three-dimensional second coordinate system in the physical space of the ship, and measuring and acquiring third posture information of the second coordinate system between the visual imaging devices;
and the three-dimensional modeling submodule is used for establishing a three-dimensional model according to the third pose information and the space mapping relation of the first coordinate system and the second coordinate system based on a multi-view geometric method, and is also used for acquiring the relative pose information of the target equipment and the equipment to be installed in the three-dimensional model according to the first pose information and the second pose information.
10. A computer-readable medium storing a computer program for execution by an electronic device, which when run on the electronic device, causes the electronic device to perform the method of any of claims 1-6.
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