The embodiment of the invention provides a supporting leg assembling method, engineering machinery, a processor and a storage medium. The method comprises the steps that a supporting leg image of a to-be-assembled supporting leg is obtained through image collecting equipment, and the image collecting equipment is connected with the tail end of a multi-axis mechanical arm; for each supporting leg image, determining a first spatial position of the image acquisition equipment, a distance between the image acquisition equipment and the to-be-assembled supporting leg, and a shooting angle of the image acquisition equipment; for each support leg image, determining a second spatial position of each detection point according to the first spatial position, the distance and the shooting angle; determining a deviation value between the first supporting leg and the second supporting leg according to the second spatial positions of all the detection points of the to-be-assembled supporting leg; and according to the deviation value, the center point of the first supporting leg and the center point of the second supporting leg are controlled to be aligned in the length direction so as to carry out assembling operation. The image acquisition equipment can flexibly acquire the images of the supporting legs in multiple directions, and the supporting legs are calibrated, so that the assembling work is accurately carried out.

    本申请实施例提供一种支腿装配方法、工程机械、处理器及存储介质。方法包括:通过图像采集设备获取待装配支腿的支腿图像,图像采集设备与多轴机械臂的末端连接;针对每个支腿图像,确定图像采集设备的第一空间位置、图像采集设备和待装配支腿之间的相隔距离,以及图像采集设备的拍摄角度;针对每个支腿图像,根据第一空间位置、相隔距离以及拍摄角度确定每个检测点的第二空间位置;根据待装配支腿的全部检测点的第二空间位置确定第一支腿和第二支腿之间的偏差值;根据偏差值控制第一支腿的中心点和第二支腿的中心点在长度方向上对齐,以进行装配作业。图像采集设备可以灵活采集多个方向上的支腿图像,对支腿进行标定,以对准确进行装配作业。


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    Title :

    Supporting leg assembly method, engineering machinery, storage medium and processor


    Additional title:

    支腿装配方法、工程机械、存储介质及处理器


    Contributors:
    YANG SAIQIANG (author) / ZHOU AIFEI (author) / LI TAO (author) / YU GUOHAI (author) / LI XIANG (author)

    Publication date :

    2023-06-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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