CN117906526A - Shield segment erector sensing system calibration method, device and storage medium - Google Patents
Shield segment erector sensing system calibration method, device and storage medium Download PDFInfo
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Abstract
The invention relates to a method, a device and a storage medium for calibrating a sensing system of a shield segment assembly machine, and relates to the technical field of calibration of the sensing system of the shield segment assembly machine. The method comprises the steps of establishing a coordinate system related to a sensing system of a shield segment splicing machine; solving the pose of a lifting cylinder coordinate system relative to a splicing machine base coordinate system, the pose of a grabbing and lifting plate end effector coordinate system relative to the splicing machine base coordinate system and the pose of a duct piece coordinate system relative to a grabbing and lifting plate end effector coordinate system according to a shield duct piece splicing machine kinematic model and geometric dimensions; deriving coordinate values of any breakpoint P on the edge of the segment in a segment coordinate system according to a geometric model of the grasping segment, and measuring the coordinate of the breakpoint P through a contour measuring instrument to be calibrated; according to the transformation relation of the homogeneous transformation chain, solving the pose relation between the coordinate system of each profile measuring instrument and the coordinate system of the lifting cylinder: thus, the calibration of the sensing system of the shield segment splicing machine is realized. High calibration precision, good reliability and simple operation.
Description
Technical Field
The invention relates to the technical field of shield segment assembler sensing system calibration, in particular to a shield segment assembler sensing system calibration method, a device and a storage medium.
Background
The segment assembly is a key process in the shield tunnel construction, and the use of the segment automatic assembly machine can greatly reduce the workload of manual participation in the segment assembly process, and plays a vital role in improving segment assembly quality and tunnel construction efficiency. The sensing system is an important hardware foundation for estimating relative pose information between the spliced segments and the grasping segments of the splicing machine in the tunnel, and the calibration accuracy of the sensing system directly determines success or failure of the segment automatic splicing machine to carry out segment grasping and automatic splicing operation.
At present, a sensing system calibration method of the shield segment erector depends on hardware constitution of the sensing system, the sensing system of the monocular and binocular vision system is obviously influenced by light source intensity and image characteristics, under the conditions that the light source is weak and a target object has no obvious texture, the image characteristics are not obvious, the image matching precision is low, even if the sensing system is accurately calibrated, the actual use requirement of the shield segment automatic erector is still difficult to meet without assistance of a cooperative target; the line structure light-based binocular system can enhance external texture information of an object to a certain extent by introducing line structure light into the binocular system, but the line structure light is greatly influenced by a light source of a working environment and is not suitable for working in a strong light source environment, so that the method still has the problem of influencing the working stability and reliability of the shield segment assembly machine. The sensing system of the multi-profile measurement shield segment erector needs to be performed offline by using a special calibration tool, the calibration process is complex, and because the working environment of the tunneling operation of the shield machine is complex and severe, the calibrated external parameters are easy to drift, and the measurement accuracy is affected. In order to ensure the construction quality and efficiency of the shield segment erector, the sensing system of the shield segment erector needs to develop a calibration method with high stability, high precision, high reliability, strong robustness, simple operation and easy realization so as to ensure the assembly quality and the assembly efficiency of the shield segment erector. The calibration method of the sensing system of the shield segment splicing machine is a key for realizing high-precision measurement and control, and is a very important factor for determining segment splicing precision and quality.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, the invention provides a calibration method of a sensing system of a shield segment erector.
In a first aspect, the present invention provides a method for calibrating a sensing system of a shield segment erector, which uses shield segments to calibrate external parameters of contour measuring instruments in the sensing system of the erector, wherein the contour measuring instruments are installed on a lifting cylinder of an automatic segment erector through a sensor bracket, and the method comprises the following steps:
Establishing a coordinate system related to a sensing system of the shield segment splicing machine, comprising: a kludge base coordinate system {0}, a gripper end effector coordinate system { E }, a segment coordinate system { G }, a lift cylinder coordinate system {3} and a profile gauge coordinate system { L };
According to the kinematic model and the geometric dimension of the shield segment erector, solving a pose relation matrix comprising a pose 0T3 of a lifting cylinder coordinate system {3} relative to an erector base coordinate system {0}, a pose 0TE of a grabbing plate end effector coordinate system { E } relative to the erector base coordinate system {0}, and a pose ETG of a segment coordinate system { G } relative to a grabbing plate end effector coordinate system { E };
Deriving a coordinate value G P of any breakpoint P on the edge of the segment in a segment coordinate system according to a geometric model of the grasping segment, and measuring a coordinate value L P of the breakpoint P through a contour measuring instrument to be calibrated;
According to the transformation relation of the homogeneous transformation chain, solving the pose relation between the coordinate system { L } of each profile measuring instrument and the coordinate system {3} of the lifting cylinder: 3TL And the R is a rotation matrix representing the posture between coordinate systems, and the t is a translation vector representing the relative position between coordinate systems, so that the calibration of the sensing system of the shield segment assembly machine is realized.
Further, the origin of the coordinate system { G } of the segment coordinate system is the circle center O of the circular arc in front of the standard segment, the x-axis is positioned on the connecting line of the circle center O and the right inner corner of the standard segment, and the z-axis coincides with the axis of the standard segment.
Further, a pose ETG of the segment coordinate system { G } relative to the gripper plate end effector coordinate system { E } is obtained according to the segment assembler geometry.
Further, the assembly is moved to a set of known joint angles, and the kinematic model is used to determine the pose 0T3 of the lift cylinder coordinate system {3} relative to the assembly base coordinate system {0} and the pose 0TE of the gripper end effector coordinate system { E } relative to the assembly base coordinate system {0 }.
Further, the solving the pose relation between the coordinate system { L } of each profile measuring instrument and the coordinate system {3} of the lifting cylinder according to the transformation relation of the homogeneous transformation chain comprises:
The homogeneous coordinates of the break point P on the edge of the standard segment measured by the contour measuring instrument to be calibrated are recorded as Determining that the homogeneous coordinate of the breakpoint P in the segment coordinate system { G } is G P according to the segment geometric dimension, and sorting out a constraint equation of the external parameter to be calibrated according to the homogeneous transformation chain 0TE·ETG·GP＝0T3·3TL·LP, as follows:
the segment assembler randomly makes N groups of known motions, meanwhile, the contour measuring instrument measures N groups of data, the 3D coordinates of any break points on the edge of the standard segment measured by the contour measuring instrument are recorded as X i, i=1, … and N, the 3D coordinates of the break points calculated on the right side of a constraint equation of the external parameters to be calibrated in a lifting cylinder coordinate system {3} are recorded as X' i, i=1, … and N, and then:
R·Xi+t＝X′i，i＝1,…,N；
First, a rotation matrix R is calculated and recorded: x i+1-Xi＝ai,X′i+1-X′i＝bi, the rotation matrix R to be calibrated is:
Wherein r 1,r2,r3 is the 3-dimensional unit column vector of the rotation matrix respectively;
The six-dimensional column vectors are recorded as:
r＝[r11 r13 r21 r23 r31 r33]T；
The rotation matrix equation is written as follows:
in the case where N defines a unique solution, a least squares solution for r is found from a system of linear equations And R 1,r3 is obtained, so that an uncorrected rotation matrix R is obtained;
After the rotation matrix R is calculated, the extrinsic parameter translation vector t is calculated:
still further, the modified rotation matrix is constructed to satisfy the unit orthogonality property:
In the formula, x is the vector cross multiplication operation, and the sum of the sum is vector 2-norm, and represents the vector length.
Further, when N is not less than 3, there is a unique solution.
In a second aspect, the invention provides a calibration device for a sensing system of a shield segment erector, which comprises: the processing unit is connected with the storage unit through the bus unit, the storage unit stores a computer program, and the calibration method of the sensing system of the shield segment splicing machine is realized when the computer program is read and executed by the processing unit.
In a third aspect, the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, where the computer program when read and executed by a processor implements the method for calibrating a sensing system of a shield segment splicing machine.
Compared with the prior art, the technical scheme provided by the embodiment of the invention has the following advantages:
According to the method, the coordinate value L P of any breakpoint on the edge of the pipe piece to be spliced in the coordinate system of the contour measuring instrument measured by the contour measuring instrument to be calibrated and the coordinate value G P of the breakpoint in the coordinate system of the pipe piece to be spliced are obtained, then the pose 0T3 of the lifting cylinder coordinate system {3} relative to the base coordinate system {0} of the splicing machine, the pose 0TE of the grabbing and lifting plate end effector coordinate system { E } relative to the base coordinate system {0} of the splicing machine and the pose ETG of the pipe piece coordinate system { G } relative to the end effector coordinate system { E } of the grabbing and lifting plate are solved according to the transformation relation of homogeneous transformation chains, and the pose relation between the coordinate system of the contour measuring instrument and the lifting cylinder coordinate system is solved, so that the calibration of each contour measuring instrument in the sensing system is realized. The calibration method has the characteristics of high precision, good reliability, simple operation, easy realization and the like, can accurately calibrate the external parameters of each laser profile measuring instrument in the sensor system of the automatic pipe piece assembling machine, and provides a solid foundation for estimating the relative pose between the assembled pipe piece { G * } and the pipe piece { G } grasped by the assembling machine and designing a follow-up pose servo controller.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a flow chart of a method for calibrating a sensing system of a shield segment splicing machine, which is provided by an embodiment of the invention;
Fig. 2 is a schematic diagram of a connecting rod coordinate system of a segment assembler according to an embodiment of the present invention;
fig. 3 is a schematic view of a standard segment gripped by a splicing machine according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a homogeneous transformation chain according to an embodiment of the present invention;
Fig. 5 is a schematic diagram of a calibration device for a sensing system of a shield segment splicing machine according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Referring to fig. 1, the invention provides a method for calibrating a sensing system of a shield segment erector, which utilizes shield segments to calibrate external parameters of contour measuring instruments in the sensing system of the erector, wherein the contour measuring instruments are arranged on a lifting cylinder of an automatic segment erector through a sensor bracket.
Before calibration of the shield segment assembler sensing system is performed, each coordinate system related to the assembler sensing system needs to be determined. The assembling machine is enabled to grasp the standard duct piece, a coordinate system related to a sensing system of the shield duct piece assembling machine is established according to a kinematic model of the shield duct piece assembling machine, and the coordinate system related to the sensing system of the shield duct piece assembling machine comprises: a kludge base coordinate system {0}, a gripper plate end effector coordinate system { E }, a segment coordinate system { G }, a lift cylinder coordinate system {3} and a profile gauge coordinate system { L }.
In the specific implementation process, fig. 2 is a schematic diagram of a segment assembler connecting rod coordinate system in a coordinate system related to a shield segment assembler sensing system established by using improved D-H parameters, a direction indicated by an arrow is a shield head tunneling direction, a coordinate system X 0Y0Z0 is an assembler base coordinate system {0}, a coordinate system X 3Y3Z3 is a lifting cylinder coordinate system {3}, and a coordinate system X 7Y7O7 is a gripping plate end effector coordinate system { E }. Besides the coordinate system of the connecting rod of the segment assembler, the coordinate system related to the sensing system of the shield segment assembler further comprises: segment coordinate system { G } and contour gauge coordinate system { L }.
Fig. 3 shows a standard segment gripped by the splicing machine, xyz is a segment coordinate system { G } fixedly connected to the standard segment, the origin of the coordinate system is the center O of the circular arc in front of the standard segment, the x-axis is located on the line connecting the center O and the right inner corner of the standard segment, and the z-axis coincides with the axis of the standard segment. In fig. 3, standard segment edge points P, A, B are the intersections of the laser lines projected by the three profilometers in the sensor system with the respective segment edges, the measured values L P are known, and their 3D coordinates G P in the segment coordinate system { G } can also be obtained from the segment geometry.
And solving a pose relation matrix comprising a pose 0T3 of a lifting cylinder coordinate system {3} relative to a kludge base coordinate system {0} and a pose 0TE of a grabbing plate end effector coordinate system { E } relative to the kludge base coordinate system {0} according to the shield segment kludge kinematic model.
And obtaining the pose ETG of the segment coordinate system { G } relative to the end effector coordinate system { E } of the grabbing plate according to the geometric dimension of the segment assembler.
The assembly is moved to a set of known joint angles and a kinematic model is used to determine the pose 0T3 of the lift cylinder coordinate system {3} relative to the assembly base coordinate system {0} and the pose 0TE of the gripper end effector coordinate system { E } relative to the assembly base coordinate system {0 }.
Because the sensor bracket of each profile measuring instrument of the sensor system is fixed on the lifting cylinder, the pose relation between the profile measuring instrument coordinate system { L } and the lifting cylinder coordinate system {3} of any breakpoint P on the edge of the standard segment is measured:
3TL = [ r|t ] is an external parameter to be calibrated, where R is a rotation matrix characterizing the pose between coordinate systems, and t is a translation vector characterizing the relative position between coordinate systems.
And measuring a coordinate value L P of any breakpoint P on the edge of the standard duct piece in a coordinate system { L } of the profile measuring instrument by using the profile measuring instrument to be calibrated, and determining a coordinate G P of the breakpoint in a coordinate system { G } of the duct piece according to the geometrical size of the duct piece.
According to the transformation relation of the homogeneous transformation chain, solving the pose relation between the coordinate system { L } of each profile measuring instrument and the coordinate system {3} of the lifting cylinder: 3TL And the R represents a rotation matrix, and t represents an external parameter translation vector, so that the calibration of a sensing system of the shield segment splicing machine is realized.
Note LP＝[X 1]T is the homogeneous coordinate of the breakpoint P on the edge of the standard segment measured by the profile measuring instrument, where the homogeneous coordinate of the breakpoint P in the segment coordinate system { G } is G P, and the constraint equation of the external parameter to be calibrated is sorted according to the homogeneous transformation chain 0TE·ETG·GP＝0T3·3TL·LP, as shown in fig. 4:
The segment assembler randomly makes N groups of known motions, meanwhile, the contour measuring instrument measures N groups of data, the 3D coordinates of any break point L P on the edge of the standard segment measured by the contour measuring instrument are recorded as X i, i=1, … and N, the 3D coordinates of the break point calculated on the right side of a constraint equation of an external parameter to be calibrated in a lifting cylinder coordinate system {3} are recorded as X' i, i=1, … and N, and the segment assembler comprises:
R·Xi+t＝X′i，i＝1,…,N；
the two-step method is adopted, firstly, a rotation matrix R is calculated, and recorded:
Xi+1-Xi＝ai，
X′i+1-X′i＝bi；
The rotation matrix R to be calibrated is as follows:
Wherein r 1,r2,r3 is the 3-dimensional unit column vector of the rotation matrix respectively;
Considering X i＝[xi 0 zi]T, therefore Then there are:
Note that the six-dimensional column vector r= [ r 11 r13 r21 r23 r31 r33]T ] then the rotation matrix equation can be written as follows:
in the case where N defines a unique solution, i.e., when N.gtoreq.3. From a system of linear equations, a least squares solution for r can be found And r 1,r3 was found.
After the rotation matrix is calculated, the external parameter translation vector is calculated:
because the solved r 1,r3 does not satisfy the unit orthogonality property, a modified rotation matrix is constructed:
In the formula, x is the vector cross multiplication operation, and the sum of the sum is vector 2-norm, and represents the vector length.
And respectively calibrating external parameters of other contour measuring instrument coordinate systems in the sensing system of the shield segment splicing machine by using the same method, thereby realizing the calibration of the sensing system of the shield segment splicing machine.
Example 2
Referring to fig. 5, an embodiment of the present invention provides a calibration device for a sensing system of a shield segment erector, including: the processing unit is connected with the storage unit through the bus unit, the storage unit stores a computer program, and the computer program realizes the shield segment splicing machine sensing system calibration method when being read and executed by the processing unit, and the method comprises the following steps:
Establishing a coordinate system related to a sensing system of the shield segment splicing machine, comprising: a kludge base coordinate system {0}, a gripper end effector coordinate system { E }, a segment coordinate system { G }, a lift cylinder coordinate system {3} and a profile gauge coordinate system { L };
According to the kinematic model and the geometric dimension of the shield segment erector, solving a pose relation matrix comprising a pose 0T3 of a lifting cylinder coordinate system {3} relative to an erector base coordinate system {0}, a pose 0TE of a grabbing plate end effector coordinate system { E } relative to the erector base coordinate system {0}, and a pose ETG of a segment coordinate system { G } relative to a grabbing plate end effector coordinate system { E };
Deriving a coordinate value G P of any breakpoint P on the edge of the segment in a segment coordinate system according to a geometric model of the grasping segment, and measuring a coordinate value L P of the breakpoint P through a contour measuring instrument to be calibrated;
According to the transformation relation of the homogeneous transformation chain, solving the pose relation between the coordinate system { L } of each profile measuring instrument and the coordinate system {3} of the lifting cylinder: 3TL And the R represents a rotation matrix, and t represents an external parameter translation vector, so that the calibration of a sensing system of the shield segment splicing machine is realized.
Of course, the storage unit in the shield segment assembler sensing system calibration device provided by the embodiment of the invention stores a computer program which is not limited to the method operation described above, and can also execute the related operation in the shield segment assembler sensing system calibration method provided by any embodiment of the invention.
Example 3
The embodiment of the invention provides a computer readable storage medium, which stores a computer program, and when the computer program is read and executed by a processor, the method for calibrating a sensing system of a shield segment splicing machine is realized, and comprises the following steps: establishing a coordinate system related to a sensing system of the shield segment splicing machine, comprising: a kludge base coordinate system {0}, a gripper end effector coordinate system { E }, a segment coordinate system { G }, a lift cylinder coordinate system {3} and a profile gauge coordinate system { L };
According to the kinematic model and the geometric dimension of the shield segment erector, solving a pose relation matrix comprising a pose 0T3 of a lifting cylinder coordinate system {3} relative to an erector base coordinate system {0}, a pose 0TE of a grabbing plate end effector coordinate system { E } relative to the erector base coordinate system {0}, and a pose ETG of a segment coordinate system { G } relative to a grabbing plate end effector coordinate system { E };
Deriving a coordinate value G P of any breakpoint P on the edge of the segment in a segment coordinate system according to a geometric model of the grasping segment, and measuring a coordinate value L P of the breakpoint P through a contour measuring instrument to be calibrated;
According to the transformation relation of the homogeneous transformation chain, solving the pose relation between the coordinate system { L } of each profile measuring instrument and the coordinate system {3} of the lifting cylinder: 3TL And the R represents a rotation matrix, and t represents an external parameter translation vector, so that the calibration of a sensing system of the shield segment splicing machine is realized.
Of course, the computer readable storage medium provided by the embodiment of the invention stores a computer program which is not limited to the method operation described above, and can also execute the related operation in the shield segment erector sensing system calibration method provided by any embodiment of the invention.
In the embodiments provided in the present invention, it should be understood that the disclosed structures and methods may be implemented in other manners. For example, the structural embodiments described above are merely illustrative, and for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via interfaces, structures or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The foregoing is only a specific embodiment of the invention to enable those skilled in the art to understand or practice the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a shield constructs section of jurisdiction kludge sensing system calibration method, utilizes shield to construct section of jurisdiction to carry out the calibration of external parameter to each profile measuring apparatu in the kludge sensing system, and each profile measuring apparatu passes through the sensor support and installs on the hoist cylinder of automatic kludge of section of jurisdiction, its characterized in that includes:
Establishing a coordinate system related to a sensing system of the shield segment splicing machine, comprising: a kludge base coordinate system {0}, a gripper end effector coordinate system { E }, a segment coordinate system { G }, a lift cylinder coordinate system {3} and a profile gauge coordinate system { L };
According to the kinematic model and the geometric dimension of the shield segment erector, solving a pose relation matrix comprising a pose 0T3 of a lifting cylinder coordinate system {3} relative to an erector base coordinate system {0}, a pose 0TE of a grabbing plate end effector coordinate system { E } relative to the erector base coordinate system {0}, and a pose ETG of a segment coordinate system { G } relative to a grabbing plate end effector coordinate system { E };
Deriving a coordinate value G P of any breakpoint P on the edge of the segment in a segment coordinate system according to a geometric model of the grasping segment, and measuring a coordinate value L P of the breakpoint P through a contour measuring instrument to be calibrated;
According to the transformation relation of the homogeneous transformation chain, solving the pose relation between the coordinate system { L } of each profile measuring instrument and the coordinate system {3} of the lifting cylinder: 3TL And the R is a rotation matrix representing the posture between coordinate systems, and the t is a translation vector representing the relative position between coordinate systems, so that the calibration of the sensing system of the shield segment assembly machine is realized.
2. The method for calibrating the sensing system of the shield segment splicing machine according to claim 1, wherein the origin of a coordinate system { G } of a segment coordinate system is the center O of an arc in front of a standard segment, the x-axis is located on a connecting line of the center O and the right inner corner of the standard segment, and the z-axis is coincident with the axis of the standard segment.
3. The method for calibrating the sensing system of the shield segment assembler according to claim 1, wherein the pose ETG of the segment coordinate system { G } relative to the end effector coordinate system { E } of the grabbing plate is obtained according to the geometric dimension of the segment assembler.
4. The method for calibrating a sensing system of a shield segment assembler according to claim 1, wherein the assembler is made to perform a set of motions with known joint angles, and a kinematic model is used to determine a pose 0T3 of a lift cylinder coordinate system {3} relative to an assembler base coordinate system {0} and a pose 0TE of a gripper end effector coordinate system { E } relative to the assembler base coordinate system {0 }.
5. The method for calibrating a sensing system of a shield segment splicing machine according to claim 1, wherein the solving the pose relation between the coordinate system { L } of each contour measuring instrument and the coordinate system {3} of the lifting cylinder according to the transformation relation of the homogeneous transformation chain comprises:
The homogeneous coordinate of the breakpoint P on the edge of the standard segment measured by the contour measuring instrument to be calibrated is LP＝[XT 1]T, the homogeneous coordinate of the breakpoint P in the segment coordinate system { G } is G P according to the segment geometric dimension, and then the constraint equation of the external parameter to be calibrated is arranged according to the homogeneous transformation chain 0TE·ETG·GP＝0T3·3TL·LP,:
the segment assembler randomly makes N groups of known motions, meanwhile, the contour measuring instrument measures N groups of data, the 3D coordinates of any break points on the edge of the standard segment measured by the contour measuring instrument are recorded as X i, i=1, … and N, the 3D coordinates of the break points calculated on the right side of a constraint equation of the external parameters to be calibrated in a lifting cylinder coordinate system {3} are recorded as X' i, i=1, … and N, and then:
R·Xi+t＝X′i，i＝1,…,N；
First, a rotation matrix R is calculated and recorded: x i+1-Xi＝ai,X′i+1-X′i＝bi, the rotation matrix R to be calibrated is:
Wherein r 1,r2,r3 is the 3-dimensional unit column vector of the rotation matrix respectively;
Considering X i＝[xi 0 zi]T, therefore Then there are:
The six-dimensional column vectors are recorded as:
r＝[r11 r13 r21 r23 r31 r33]T；
The rotation matrix equation is written as follows:
in the case where N defines a unique solution, a least squares solution for r is found from a system of linear equations And R 1,r3 is obtained, so that an uncorrected rotation matrix R is obtained;
After the rotation matrix R is calculated, the extrinsic parameter translation vector t is calculated:
6. The shield segment assembler sensing system calibration method of claim 5, wherein the correction rotation matrix is constructed to satisfy unit orthogonality properties:
In the formula, x is the vector cross multiplication operation, and the sum of the sum is vector 2-norm, and represents the vector length.
7. The method for calibrating a sensing system of a shield segment splicing machine according to claim 5, wherein when N is more than or equal to 3, a unique solution exists.
8. The utility model provides a shield constructs section of jurisdiction kludge sensing system calibration device which characterized in that includes: at least one processing unit, the processing unit is connected with the storage unit through the bus unit, the storage unit stores a computer program, and when the computer program is read and executed by the processing unit, the calibration method of the shield segment assembly machine sensing system according to any one of claims 1-7 is realized.
9. A computer readable storage medium storing a computer program, wherein the computer program, when read and executed by a processor, implements the method for calibrating a sensing system of a shield segment splicing machine according to any one of claims 1-7.
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| CN (1) | CN117906526A (en) |
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2023
- 2023-12-22 CN CN202311787069.9A patent/CN117906526A/en active Pending
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