CN117303216A - Six-dimensional relative pose measuring device and method for hoisting and transferring large-scale components - Google Patents
Six-dimensional relative pose measuring device and method for hoisting and transferring large-scale components Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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Abstract
The invention relates to the technical field of photoelectric measurement, in particular to a six-dimensional relative pose measurement device and method for hoisting and transferring a large-sized component, wherein the method comprises the following steps: s1, building a six-dimensional relative pose measuring device for hoisting and transferring large-scale components; s2, forming two light spots on window glass of the first cooperative target and window glass of the second cooperative target; s3, the first optical measurement module obtains coordinates of a first image point and a second image point, and the second optical measurement module obtains coordinates of a third image point and a fourth image point; s4, the processing module calculates and outputs pose data of the lifting appliance relative to the transport vehicle according to the pitch angle and the roll angle of the lifting appliance relative to the transport vehicle, which are output by the inclinometer, and by combining the coordinates of the first, second, third and fourth image points; s5, the crane control system adjusts the lifting appliance according to the pose data, and lifting and transferring of the large-sized components are completed. The invention can automatically plan the motion paths of the suspension arm and the lifting appliance, and realize the automatic lifting and transferring of the large-scale components.
Description
Technical Field
The invention relates to the technical field of photoelectric measurement, in particular to a six-dimensional relative pose measurement device and method for hoisting and transferring large-scale components.
Background
At present, in the hoisting and transferring process of large-scale components, at least one crane manipulator and 2-3 ground observers are required to cooperate to operate, the observers need to repeatedly observe the relative pose relation between the large-scale components and the transport vehicle around the transport vehicle, a hoisting instruction is sent to the crane manipulator, the crane manipulator firstly controls the suspension arm to transfer the lifting appliance and the large-scale component assembly to the upper part of the transport vehicle under the command of the ground observers, then slowly aligns the locating pin at the bottom of the large-scale component with the corresponding limiting mechanism on the transport vehicle in the horizontal direction, and finally controls the lifting appliance to release the height of the large-scale component so that the locating pin at the bottom of the large-scale component is embedded into the corresponding limiting mechanism on the transport vehicle, thereby completing hoisting and transferring.
Li Qinwen of vinca ray machine institute of academy of China proposes a relative position measurement scheme applied to an automatic alignment system in a doctor paper of the institute of China, namely, a key technical study of the automatic alignment system based on visual feedback. The distance in the height Z direction between the lifting appliance and the transport vehicle is measured through a laser range finder, the pitching angle beta and the rolling angle gamma of the lifting appliance are measured through an inclinometer, and the transverse offset distance X, the longitudinal offset distance Y and the relative azimuth angle alpha between the lifting appliance and the transport vehicle are measured through a camera. However, this solution has certain technical drawbacks in terms of applicable conditions and measurement accuracy. Firstly, a laser range finder needs to have a good reference plane in a corresponding measurement range of the surface of a transport vehicle in the measurement process, the size of the plane determines the measurement range of the whole equipment, the transport vehicle has a complex structure, and an ideal measurement reference plane is difficult to provide, so that the practicability of the scheme is limited by an application environment; secondly, the measurement accuracy of the laser range finder is greatly influenced by the environment, and the accuracy of measurement data can be influenced by temperature change, light interference and the like because the large-scale transport vehicle operates outdoors all the year round.
Disclosure of Invention
The invention provides a six-dimensional relative pose measuring device and a six-dimensional relative pose measuring method for hoisting and transshipment of a large-sized component, which are used for solving the problems that the hoisting efficiency of a manually matched hoisting and transshipment method of the large-sized component is low, the relative position measuring scheme applied to an automatic alignment system has technical defects in application conditions and measuring accuracy, and the like in the prior art.
The invention provides a six-dimensional relative pose measuring device for hoisting and transferring large-scale components, which comprises: the first optical measurement module, the second optical measurement module and the processing module are arranged on the same straight line, the first cooperative target and the second cooperative target are arranged on the same straight line, wherein,
the first cooperative target and the second cooperative target are symmetrically arranged on the upper surface of the carriage body of the transport vehicle along the symmetry axis of the upper surface of the carriage body, and the first cooperative target and the second cooperative target are both used for forming two light spots;
the first optical measurement module and the second optical measurement module are correspondingly arranged on the lifting appliance through special brackets relative to the installation positions of the first cooperative target and the second cooperative target, the first optical measurement module is used for imaging two light spots formed by the first cooperative target and outputting coordinates of a first image point and a second image point generated by the two light spots through the first optical measurement module, the second optical measurement module is used for imaging two light spots formed by the second cooperative target and outputting coordinates of a third image point and a fourth image point generated by the two light spots through the second optical measurement module;
the first optical measurement module and the second optical measurement module are connected with the processing module, the processing module is arranged on the central axis of the lifting appliance, the distances between the processing module and the first optical measurement module and the distances between the processing module and the second optical measurement module are equal, the processing module is used for measuring the pitch angle and the roll angle of the lifting appliance relative to the horizontal plane, and according to measured data of the processing module, the first optical measurement module and the second optical measurement module, pose data are calculated and output.
Preferably, the first cooperative target and the second cooperative target both comprise a power connector, a switch, a driving circuit and two lasers, wherein the power connector is used for externally connecting a power supply, the switch is used for controlling the first cooperative target or the second cooperative target to be turned on and off, the driving circuit is used for simultaneously driving the two lasers to emit light, and the two lasers are used for correspondingly irradiating the emitted light on two window glasses of the first cooperative target or the second cooperative target to form two light spots.
Preferably, the first optical measurement module and the second optical measurement module each comprise a lens, a photosensitive element and an image processing circuit, the lens is used for collecting two light spots formed by the first cooperative target or the second cooperative target, the photosensitive element is used for imaging the two light spots of the first cooperative target or the second cooperative target collected by the lens, and the image processing circuit is used for calculating coordinates of image points formed by the photosensitive elements of the first optical measurement module or the second optical measurement module.
Preferably, the processing module comprises an inclinometer, a digital signal processor and a communication interface, wherein the inclinometer is used for measuring the horizontal posture of the lifting appliance and outputting the pitch angle and the roll angle of the lifting appliance relative to the horizontal plane, the digital signal processor is used for obtaining the posture data of the lifting appliance relative to the transport vehicle by resolving the measured data of the inclinometer, the first optical measurement module and the second optical measurement module, and the communication interface is used for outputting the posture data to the crane control system, and the control of the lifting appliance is realized through the crane control system.
Preferably, the two lasers are replaced by two LED lamps.
The invention provides a six-dimensional relative pose measurement method for hoisting and transferring a large-sized component, which is realized by using a six-dimensional relative pose measurement device for hoisting and transferring the large-sized component, and specifically comprises the following steps:
s1: a six-dimensional relative pose measuring device for hoisting and transferring large-scale components is built.
S2: the first cooperative target and the second cooperative target respectively drive two lasers of the first cooperative target and the second cooperative target to emit light through a driving circuit of the first cooperative target and the second cooperative target, so that two light spots are formed on two window glasses of the first cooperative target and the second cooperative target.
S3: the first optical measurement module obtains coordinates of a first image point and a second image point by processing two light spots formed by a first cooperative target, and the second optical measurement module obtains coordinates of a third image point and a fourth image point by processing two light spots formed by a second cooperative target.
S4: and the processing module calculates and outputs pose data of the lifting appliance relative to the transport vehicle according to the pitch angle and the roll angle of the lifting appliance relative to the horizontal plane output by the inclinometer and by combining the coordinates of the first image point, the second image point, the third image point and the fourth image point.
S5: and the crane control system adjusts the lifting appliance according to the pose data to finish lifting and transferring the large-sized components.
Preferably, the step S4 specifically includes the following steps:
s41: establishing a target space rectangular coordinate system O-XYZ by taking the central point of the upper surface of the carriage body where the first cooperative target and the second cooperative target are positioned as an origin, wherein the positive direction of the Y axis is the head direction of the transport vehicle, and the first light spot B 11 Is (X) B11 ，Y B11 ，Z B11 ) Second light spot B 12 Is (X) B12 ，Y B12 ，Z B12 ) Third facula B 21 Is (X) B21 ，Y B21 ，Z B21 ) Fourth facula B 22 Is (X) B22 ，Y B22 ，Z B22 )。
S42: the center of the lifting appliance is taken as an origin, and a lifting appliance space rectangular coordinate system O is established D -X D Y D Z D First optical measurement module A 1 Is (X) A1 ，Y A1 0), a second optical measuring module A 2 Is (X) A2 ，Y A2 ，0)。
S43: the optical node of the lens of the first optical measurement module is taken as an origin, and a first space rectangular coordinate system O is established J1 -X J1 Y J1 Z J1 Establishing a first image plane space rectangular coordinate system O-x by taking the center of a photosensitive element of a first optical measurement module as an origin 1 y 1 z 1 First image point a 11 Is (x) a11 ，y a11 ，z a11 ) A second image point a 12 Is (x) a12 ，y a12 ，z a12 ) Establishing a second space rectangular coordinate system O by taking an optical node of a lens of the second optical measurement module as an origin J2 -X J2 Y J2 Z J2 Establishing a second image plane space rectangular coordinate system O-x by taking the center of a photosensitive element of the second optical measurement module as an origin 2 y 2 z 2 Third image point a 21 Is (x) a21 ，y a21 ，z a21 ) Fourth image point a 22 Is (x) a22 ，y a22 ，z a22 )。
S44: according to the pitch angle and the roll angle output by the inclinometer, and combining the coordinates of the first light spot, the second light spot, the third light spot and the fourth light spot, calculating the rotation azimuth angle alpha of the lifting appliance space rectangular coordinate system relative to the target space rectangular coordinate system:
wherein,
k 18 ＝(X B11 -X B22 )·k 13 ·cosγ+(X B11 -X B22 )·(k 11 -1)·sinγ+(Y B11 -Y B22 )·k 13 ·sinβ·sinγ+(Y B11 -Y B22 )·k 15 ·cosβ-(Y B11 -Y B22 )·(k 11 -1)·sinβ·cosγ，
k 19 ＝(k 14 ·k 15 -k 13 ·k 16 )·cosβ·cosγ+(k 12 ·k 13 -k 14 ·(k 11 -1))·sinβ+(k 12 ·k 15 -k 16 ·(k 1 -1))·cosβ·sinγ，
m 13 ＝-cosβ·sinγ，m 23 ＝sinβ，m 33 cos β·cos γ, β is pitch angle, γ is roll angle, and f is focal length of lenses in the first and second optical measurement modules.
S45: and (3) calculating the translation delta X of the lifting appliance space rectangular coordinate system along the X axis, the translation delta Y along the Y axis and the translation delta Z along the Z axis relative to the target space rectangular coordinate system according to the calculation result of the step S44:
wherein m is 11 ＝cosα·cosγ-sinα·sinβ·sinγ，m 12 ＝sinα·cosγ+cosα·sinβ·sinγ，m 21 ＝-sinα·cosβ，m 22 ＝cosα·cosβ，m 31 ＝cosα·sinγ+sinα·sinβ·cosγ，m 32 ＝sinα·sinγ-cosα·sinβ·cosγ，Z′ A11 Z coordinate, Z 'of the first image point in the target space rectangular coordinate system' A12 Z coordinate, Z 'of the second image point in the target space rectangular coordinate system' A21 Z coordinate, Z 'of the third image point in the target space rectangular coordinate system' A22 And the Z coordinate of the fourth image point in the target space rectangular coordinate system.
S46: and (5) outputting pose data of the lifting appliance relative to the transport vehicle by combining the calculation results of the steps S44-S45.
Compared with the prior art, the invention has the following beneficial effects:
(1) The six-dimensional relative pose measuring device for hoisting and transferring the large-sized components adopts a full-automatic measuring mode, can achieve millimeter-level measuring precision for six-dimensional relative pose measurement of hoisting and transferring the large-sized components, provides technical support for automatic hoisting and transferring of the large-sized components, can greatly improve hoisting efficiency and safety of a crane, saves labor cost and has higher practical value.
(2) The first cooperative target and the second cooperative target adopt the window glass with good monochromaticity and concentrated energy to illuminate the first cooperative target and the second cooperative target, and after light spots formed by the first cooperative target and the second cooperative target are matched with imaging wave bands of the first optical measurement module and the second optical measurement module, the six-dimensional relative pose measuring device for hoisting and transferring the large-scale component can work in a low-illumination environment, can resist strong light interference and realize normal work in all weather and severe weather environments.
(3) The six-dimensional relative pose measuring device for hoisting and transferring the large-sized components can automatically work after being electrified, can measure the poses of the large-sized components in real time, does not need manual operation, and is convenient to popularize.
Drawings
Fig. 1 is a schematic structural view of a six-dimensional relative pose measurement device for hoisting and transferring a large-sized member according to an embodiment of the present invention;
fig. 2 is a schematic logic structure diagram of a six-dimensional relative pose measurement device for hoisting and transferring large-scale components according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the structure of a first cooperative target and a second cooperative target provided in accordance with an embodiment of the present invention;
fig. 4 is a graph of a spreader provided in accordance with an embodiment of the present invention relative to a transport vehicle;
fig. 5 is a flow chart of a six-dimensional relative pose measurement method for hoisting and transferring a large-scale member according to an embodiment of the invention.
Reference numerals: the device comprises a transport vehicle 1, a lifting appliance 2, a first cooperative target 3, window glass 3-1, a switch 3-2, a power supply controller 3-3, a second cooperative target 4, a first optical measurement module 5, a second optical measurement module 6, a processing module 7, an inclinometer 7-1, a digital signal processor 7-2 and a communication interface 7-3.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the following description, like modules are denoted by like reference numerals. In the case of the same reference numerals, their names and functions are also the same. Therefore, a detailed description thereof will not be repeated.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
Fig. 1 shows a structure of a six-dimensional relative pose measurement device for hoisting and transferring a large-sized member according to an embodiment of the present invention; fig. 2 shows a logic structure of a six-dimensional relative pose measurement device for hoisting and transferring a large-sized member according to an embodiment of the present invention.
As shown in fig. 1-2, the six-dimensional relative pose measuring device for hoisting and transferring large-scale components provided by the invention comprises: a first optical measurement module 5, a second optical measurement module 6 and a processing module 7 arranged on a same line, a first cooperative target 3 and a second cooperative target 4 arranged on a same line, wherein,
the first cooperative target 3 and the second cooperative target 4 are symmetrically arranged on the upper surface of the carriage body along the symmetry axis of the upper surface of the carriage body of the transport vehicle 1, and the first cooperative target 3 and the second cooperative target 4 are both used for forming two light spots.
The first optical measurement module 5 and the second optical measurement module 6 are correspondingly installed on the lifting appliance 2 through special brackets relative to the installation positions of the first cooperative target 3 and the second cooperative target 4, the first optical measurement module 5 is used for imaging two light spots formed by the first cooperative target 3 and outputting coordinates of a first image point and a second image point generated by the two light spots through the first optical measurement module 5, the second optical measurement module 6 is used for imaging two light spots formed by the second cooperative target 4 and outputting coordinates of a third image point and a fourth image point generated by the two light spots through the second optical measurement module 6.
The first optical measurement module 5 and the second optical measurement module 6 are connected with the processing module 7, the processing module 7 is installed on the central axis of the lifting appliance 2, the distances between the processing module 7 and the first optical measurement module 5 and the distances between the processing module 7 and the second optical measurement module 6 are equal, the processing module 7 is used for measuring the pitch angle and the roll angle of the lifting appliance 2 relative to the horizontal plane, and according to measured data of the processing module 7, the first optical measurement module 5 and the second optical measurement module 6, pose data are calculated and output.
Fig. 3 illustrates the structure of a first cooperative target and a second cooperative target provided in accordance with an embodiment of the present invention.
The first cooperative target 3 and the second cooperative target 4 each comprise a switch 3-2, a power connector 3-3, a driving circuit and two lasers, the first cooperative target 3 and the second cooperative target 4 have the same structure, and the following is taken as an example of the first cooperative target 3: the switch 3-2 is used for controlling the first cooperative target 3 to be turned on and off, the power connector 3-3 is used for externally connecting a power supply, the driving circuit drives the two lasers to emit light simultaneously, and the light emitted by the two lasers irradiates on the two window glasses 3-1 of the first cooperative target 3 to form two uniform and bright light spots.
The first cooperative target 3 and the second cooperative target 4 of the present invention are not limited to use laser as a light source, and in some working environments without strong light interference, an LED lamp may be used as a light source, that is, two lasers may be replaced by two LED lamps.
The first optical measurement module 5 and the second optical measurement module 6 each include a lens, a photosensitive element, and an image processing circuit, where the lens is used to collect two light spots formed by the first cooperative target 3 or the second cooperative target 4, the photosensitive element is used to image two light spots collected by the lens of the first cooperative target 3 or the second cooperative target 4, and the image processing circuit is used to calculate coordinates of an image point formed by the photosensitive element of the first optical measurement module 5 or the second optical measurement module 6.
The processing module 7 comprises an inclinometer 7-1, a digital signal processor 7-2 and a communication interface 7-3, wherein the inclinometer 7-1 is used for measuring the horizontal posture of the lifting appliance 2 and outputting the pitch angle and the roll angle of the lifting appliance 2 relative to the horizontal plane, the digital signal processor 7-2 is used for calculating measured data of the inclinometer 7-1, the first optical measurement module 5 and the second optical measurement module 6 to obtain posture data of the lifting appliance 2 relative to the transport vehicle 1, and the communication interface 7-3 is used for outputting the posture data to a crane control system, so that the control of the lifting appliance 2 is realized through the crane control system.
Fig. 4 shows coordinates of a lifting appliance relative to a transport vehicle, and fig. 5 shows a flow of a six-dimensional relative pose measurement method for lifting and transferring a large-sized member, according to an embodiment of the invention.
As shown in fig. 4-5, the six-dimensional relative pose measurement method for hoisting and transferring the large-scale component provided by the invention is realized by using a six-dimensional relative pose measurement device for hoisting and transferring the large-scale component, and specifically comprises the following steps:
s1: a six-dimensional relative pose measuring device for hoisting and transferring large-scale components is built.
S2: the first cooperative target 3 and the second cooperative target 4 respectively drive two lasers of the first cooperative target 3 and the second cooperative target 4 to emit light through a driving circuit of the first cooperative target and the second cooperative target, so that two light spots are formed on two window glasses of the first cooperative target 3 and the second cooperative target 4.
S3: the first optical measurement module 5 obtains the coordinates of the first and second image points by processing the two light spots formed by the first cooperative target 3, and the second optical measurement module 6 obtains the coordinates of the third and fourth image points by processing the two light spots formed by the second cooperative target 4.
S4: the processing module 7 calculates and outputs pose data of the lifting appliance 2 relative to the transport vehicle 1 according to the pitch angle and the roll angle of the lifting appliance 2 relative to the horizontal plane output by the inclinometer 7-1 and by combining the coordinates of the first image point, the second image point, the third image point and the fourth image point.
The position and posture data of the lifting appliance 2 relative to the transport vehicle 1 comprise a pitch angle and a roll angle output by the inclinometer 7-1, a rotation azimuth angle alpha of a lifting appliance space rectangular coordinate system relative to a target space rectangular coordinate system, a translation quantity delta X of the lifting appliance space rectangular coordinate system relative to the target space rectangular coordinate system along an X axis, a translation quantity delta Y along a Y axis and a translation quantity delta Z along a Z axis.
The step S4 specifically comprises the following steps:
s41: the center point of the upper surface of the carriage body where the first cooperative target 3 and the second cooperative target 4 are located is taken as an origin, a target space rectangular coordinate system O-XYZ is established, wherein the positive direction of the Y axis is the head direction of the transport vehicle 1, and the first light spot B 11 Is (X) B11 ，Y B11 ，Z B11 ) Second light spot B 12 Is (X) B12 ，Y B12 ，Z B12 ) Third facula B 21 Is (X) B21 ，Y B21 ，Z B21 ) Fourth facula B 22 Is (X) B22 ，Y B22 ，Z B22 )。
S42: the center of the lifting appliance 2 is taken as an origin, and a lifting appliance space rectangular coordinate system O is established D -X D Y D Z D The first optical measurement module 5 has coordinates (X A1 ，Y A1 0), the coordinates of the second optical measurement module 6 are (X A2 ，Y A2 ，0)。
S43: the optical node of the lens of the first optical measurement module 5 is used as an origin to establish a first space rectangular coordinate system O J1 -X J1 Y J1 Z J1 The center of the photosensitive element of the first optical measurement module 5 is used as an origin to establish a first image plane space rectangular coordinate system O-x 1 y 1 z 1 First image point a 11 Is (x) a11 ，y a11 ，z a12 ) A second image point a 12 Is (x) a12 ，y a12 ，z a12 ) The optical node of the lens of the second optical measurement module 6 is used as an origin to establish a second space rectangular coordinate system O J2 -X J2 Y J2 Z J2 Establishing a second image plane space rectangular coordinate system O-x by taking the center of the photosensitive element of the second optical measurement module 6 as an origin 2 y 2 z 2 Third image point a 21 Is (x) a21 ，y a21 ，z a21 ) Fourth image point a 22 Is (x) a22 ，y a22 ，z a22 )。
S44: according to the pitch angle and the roll angle output by the inclinometer 7-1, and combining the coordinates of the first light spot, the second light spot, the third light spot and the fourth light spot, calculating the rotation azimuth angle alpha of the lifting appliance space rectangular coordinate system relative to the target space rectangular coordinate system:
wherein,
k 18 ＝(X B11 -X B22 )·k 13 ·cosγ+(X B11 -X B22 )·(k 11 -1)·sinγ+(Y B11 -Y B22 )·k 13 ·sinβ·sinγ+(Y B11 -Y B22 )·k 15 ·cosβ-(Y B11 -Y B22 )·(k 11 -1)·sinβ·cosγ，
k 19 ＝(k 14 ·k 15 -k 13 ·k 16 )·cosβ·cosγ+(k 12 ·k 13 -k 14 ·(k 11 -1))·sinβ+(k 12 ·k 15 -k 16 ·(k 1 -1))·cosβ·sinγ，
m 13 ＝-cosβ·sinγ，m 23 ＝sinβ，m 33 cos β·cos γ, β is pitch angle, γ is roll angle, and f is focal length of lenses in the first optical measurement module 5 and the second optical measurement module 6.
S45: and (3) calculating the translation delta X of the lifting appliance space rectangular coordinate system along the X axis, the translation delta Y along the Y axis and the translation delta Z along the Z axis relative to the target space rectangular coordinate system according to the calculation result of the step S44:
wherein m is 11 ＝cosα·cosγ-sinα·sinβ·sinγ，m 12 ＝sinα·cosγ+cosα·sinβ·sinγ，m 21 ＝-sinα·cosβ，m 22 ＝cosα·cosβ，m 31 ＝cosα·sinγ+sinα·sinβ·cosγ，m 32 ＝sinα·sinγ-cosα·sinβ·cosγ，Z′ A11 Z coordinate, Z 'of the first image point in the target space rectangular coordinate system' A12 For the second image pointZ coordinate, Z 'of the target space rectangular coordinate system' A21 Z coordinate, Z 'of the third image point in the target space rectangular coordinate system' A22 And the Z coordinate of the fourth image point in the target space rectangular coordinate system.
S46: and outputting pose data of the lifting appliance 2 relative to the transport vehicle 1 by combining the calculation results of the steps S44-S45.
S5: and the crane control system adjusts the lifting appliance 2 according to the pose data to finish the lifting and transferring of the large-sized components.
The lifting appliance 2 is connected with the suspension arm, and the adjustment of the lifting appliance 2 is realized through the cooperation of all joints of the suspension arm.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (7)
1. A six-dimensional relative position appearance measuring device for large-scale component hoist and mount transshipment, characterized by comprising: the first optical measurement module, the second optical measurement module and the processing module are arranged on the same straight line, the first cooperative target and the second cooperative target are arranged on the same straight line, wherein,
the first cooperative target and the second cooperative target are symmetrically arranged on the upper surface of the carriage body along the symmetry axis of the upper surface of the carriage body of the transport vehicle, and the first cooperative target and the second cooperative target are both used for forming two light spots;
the first optical measurement module and the second optical measurement module are correspondingly arranged on the lifting appliance through special brackets relative to the installation positions of the first cooperative target and the second cooperative target, the first optical measurement module is used for imaging two light spots formed by the first cooperative target and outputting coordinates of a first image point and a second image point generated by the two light spots through the first optical measurement module, and the second optical measurement module is used for imaging two light spots formed by the second cooperative target and outputting coordinates of a third image point and a fourth image point generated by the two light spots through the second optical measurement module;
the first optical measurement module and the second optical measurement module are connected with the processing module, the processing module is installed on the central axis of the lifting appliance, the distances between the processing module and the first optical measurement module and the distances between the processing module and the second optical measurement module are equal, and the processing module is used for measuring the pitch angle and the roll angle of the lifting appliance relative to the horizontal plane and calculating and outputting pose data according to measured data of the processing module, the first optical measurement module and the second optical measurement module.
2. The six-dimensional relative pose measurement device for hoisting and transferring large-scale components according to claim 1, wherein the first cooperative target and the second cooperative target comprise a power connector, a switch, a driving circuit and two lasers, the power connector is used for externally connecting a power supply, the switch is used for controlling the first cooperative target or the second cooperative target to be turned on and off, the driving circuit is used for simultaneously driving the two lasers to emit light, and the two lasers are used for correspondingly irradiating the emitted light on two window glasses of the first cooperative target or the second cooperative target to form two light spots.
3. The six-dimensional relative pose measurement device for hoisting and reloading of large members according to claim 2, wherein the first optical measurement module and the second optical measurement module each comprise a lens, a photosensitive element and an image processing circuit, the lens is used for collecting two light spots formed by the first cooperative target or the second cooperative target, the photosensitive element is used for imaging the two light spots of the first cooperative target or the second cooperative target collected by the lens, and the image processing circuit is used for calculating coordinates of an image point formed by the photosensitive element of the first optical measurement module or the second optical measurement module.
4. A six-dimensional relative attitude measurement device for hoisting and transferring large-scale components according to claim 3, wherein the processing module comprises an inclinometer for measuring the horizontal attitude of the hoist and outputting the pitch angle and roll angle of the hoist relative to the horizontal plane, a digital signal processor for obtaining attitude data of the hoist relative to the transport vehicle by resolving measured data of the inclinometer, the first optical measurement module and the second optical measurement module, and a communication interface for outputting the attitude data to a crane control system, and control of the hoist is achieved by the crane control system.
5. The six-dimensional relative pose measurement device for hoisting and transferring large-scale components according to claim 2, wherein two lasers can be replaced by two LED lamps.
6. The six-dimensional relative pose measurement method for hoisting and transferring the large-sized component is realized by the six-dimensional relative pose measurement device for hoisting and transferring the large-sized component according to the claim 4, and is characterized by comprising the following steps:
s1: building the six-dimensional relative pose measuring device for hoisting and transferring the large-scale component according to claim 4;
s2: the first cooperative target and the second cooperative target respectively drive two lasers of the first cooperative target and the second cooperative target to emit light through a driving circuit of the first cooperative target and the second cooperative target, so that two light spots are formed on two window glasses of the first cooperative target and the second cooperative target;
s3: the first optical measurement module obtains the coordinates of the first image point and the second image point by processing two light spots formed by the first cooperative target, and the second optical measurement module obtains the coordinates of the third image point and the fourth image point by processing two light spots formed by the second cooperative target;
s4: the processing module calculates and outputs pose data of the lifting appliance relative to the transport vehicle according to the pitch angle and the roll angle of the lifting appliance relative to the horizontal plane, which are output by the inclinometer, and by combining the coordinates of the first image point, the second image point, the third image point and the fourth image point;
s5: and the crane control system adjusts the lifting appliance according to the pose data to finish lifting and transferring the large-sized component.
7. The six-dimensional relative pose measurement method for hoisting and transferring large-scale components according to claim 6, wherein the step S4 specifically comprises the following steps:
s41: establishing a target space rectangular coordinate system O-XYZ by taking the central point of the upper surface of the carriage body where the first cooperative target and the second cooperative target are located as an origin, wherein the positive direction of the Y axis is the head direction of the transport vehicle, and a first light spot B 11 Is (X) B11 ，Y B11 ，Z B11 ) Second light spot B 12 Is (X) B12 ，Y B12 ，Z B12 ) Third facula B 21 Is (X) B21 ，Y B21 ，Z B21 ) Fourth facula B 22 Is (X) B22 ，Y B22 ，Z B22 )；
S42: taking the center of the lifting appliance as an origin, and establishing a lifting appliance space rectangular coordinate system O D -X D Y D Z D The first optical measurement module A 1 Is (X) A1 ，Y A1 0), the second optical measurement module A 2 Is (X) A2 ，Y A2 ，0)；
S43: establishing a first space rectangular coordinate system O by taking an optical node of a lens of the first optical measurement module as an origin J1 -X J1 Y J1 Z J1 Establishing a first image plane space rectangular coordinate system O-x by taking the center of a photosensitive element of the first optical measurement module as an origin 1 y1z 1 The first image point a 11 Is (x) a11 ，y a11 ，z a11 ) The second image point a 12 Is (x) a12 ，y a12 ，z a12 ) Establishing a second space rectangular coordinate system O by taking an optical node of a lens of the second optical measurement module as an origin J2 -X J2 Y J2 Z J2 Establishing a second image plane space rectangular coordinate system O-x by taking the center of the photosensitive element of the second optical measurement module as an origin 2 y2z 2 The third image point a 21 Is (x) a21 ，y a21 ，z a21 ) The fourth image point a 22 Is (x) a22 ，y a22 ，z a22 )；
S44: according to the pitch angle and the roll angle output by the inclinometer, and combining the coordinates of the first light spot, the second light spot, the third light spot and the fourth light spot, calculating a rotation azimuth angle alpha of the lifting appliance space rectangular coordinate system relative to the target space rectangular coordinate system:
wherein,
m 13 ＝-cosβ·sinγ，m 23 ＝sinβ，m 33 cos β·cos γ, β is pitch angle, γ is roll angle, f is focal length of lenses in the first and second optical measurement modules;
s45: and calculating the translation amount delta X of the lifting appliance space rectangular coordinate system along the X axis, the translation amount delta Y along the Y axis and the translation amount delta Z along the Z axis relative to the target space rectangular coordinate system according to the calculation result of the step S44 by the following formula:
wherein m is 11 ＝cosα·cosγ-sinα·sinβ·sinγ，m 12 ＝sinα·cosγ+cosα·sinβ·sinγ，m 21 ＝-sinα·cosβ，m 22 ＝cosα·cosβ，m 31 ＝cosα·sinγ+sinα·sinβ·cosγ，m 32 ＝sinα·sinγ-cosα·sinβ·cosγ，Z′ A11 Z coordinate, Z 'of the first image point in the target space rectangular coordinate system' A12 Z coordinate, Z 'of the second image point in the target space rectangular coordinate system' A21 Z coordinate, Z 'of the third image point in the target space rectangular coordinate system' A22 A Z coordinate of the fourth image point in the target space rectangular coordinate system;
s46: and outputting pose data of the lifting appliance relative to the transport vehicle by combining the calculation results of the steps S44-S45.
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