The invention discloses a butt joint method of a large cylinder section product based on visual monitoring, which comprises the following steps: when the relative distance between a flange surface and a butt joint surface of a cylinder section is within a first distance range, adopting a coarse adjustment mode; in the coarse adjustment process, the transport vehicle chassis is driven to adjust the relative pose of the cylinder section and the butt joint face through measurement data of the far-focus camera; when the relative distance between the flange face and the butt joint face of the cylinder section is within a second distance range, coarse adjustment is switched to fine adjustment; in the fine adjustment process, measuring data of the near-focus camera is used for driving a transport vehicle multi-degree-of-freedom adjusting mechanism to adjust the relative pose of the cylinder section and the butt joint face; and after fine adjustment is finished, the transport vehicle is controlled to execute linear reversing operation, and fastening operation is conducted when the flange face of the cylinder section makes contact with the butt joint face. A segmented butt joint method is adopted, a relay type execution process in which data measured by a far-focus camera drives a chassis to perform rapid coarse adjustment and a near-focus camera drives a multi-degree-of-freedom adjusting mechanism to perform accurate adjustment is adopted, and the butt joint speed is increased on the premise that the butt joint accuracy is ensured.

    本发明公开了一种基于视觉监测的大型筒段产品的对接方法,包括:当筒段法兰面和对接面的相对距离处于第一距离范围内时,采用粗调的方式;在粗调过程中利用远焦相机的测量数据驱动运输车底盘调整筒段与对接面的相对位姿;当筒段法兰面和对接面的相对距离处于第二距离范围内时,由粗调切换至精调;在精调过程中利用近焦相机的测量数据驱动运输车多自由度调整机构调整筒段与对接面的相对位姿;精调结束后控制运输车执行直线倒车操作,当筒段法兰面和对接面接触时进行紧固操作。采用分段对接的方法,由远焦相机测量数据驱动底盘快速粗调,近焦相机驱动多自由度调整机构精确调整的接力式执行过程,在确保对接精度的前提下提升了对接速度。


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    Title :

    Butt joint method for large-scale cylinder section products based on visual monitoring


    Additional title:

    一种基于视觉监测的大型筒段产品的对接方法


    Contributors:
    XIAO QIANG (author) / ZHANG YABO (author) / LIU MINGJIE (author) / ZHENG JIANXIN (author) / LI HAIZHOU (author) / DENG ZHIBAO (author) / WEI RUI (author) / WEI DONGLIANG (author) / CAO XIANGRONG (author) / SUN MINGMING (author)

    Publication date :

    2023-08-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60D Fahrzeugverbindungen , VEHICLE CONNECTIONS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



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