Measurement Method of Cabin Automatic Docking Based on 2D Laser Displacement Sensor

被引：1
作者：
Sun L. [1 ,3 ]
Zhang W. [1 ,3 ]
Wang Z. [2 ]
Wang Z. [2 ]
Ren Z. [1 ,3 ]
Zhang Q. [1 ,3 ]
机构：
[1] Beijing National Innovation Institute of Lightweight Ltd., Beijing
[2] Beijing Institute of Special Machinery, Beijing
[3] State Key Laboratory of Advanced Forming Technology and Equipment, Beijing
来源：
Zhongguo Jixie Gongcheng/China Mechanical Engineering | 2023年 / 34卷 / 09期
关键词：
2D laser displacement sensor; cabin automatic docking; image processing; pose measurement;
D O I：
10.3969/j.issn.1004-132X.2023.09.013
中图分类号：
学科分类号：
摘要：
In view of the docking and assembly requirements of the cabins, a method for automatic docking measurement was proposed based on 2D laser displacement sensor in combination with the docking processes of the cabins. The displacement sensors detected the 2D contour deviation of the three points at the docking points of the two cabins, and calculated the pose of the cabins to be docked with 5 degrees of freedom except for the rotation angle; The positions of the flange gap in the cabins were calculated to obtain the rotation angle of the cabins to be docked. Finally, the results are fed back to the control system to drive the actuator to adjust the pose. The proposed method was verified by introducing error simulation and combining with docking experiments. The results show that the automatic docking method has high measurement accuracy and good docking effectiveness, which may meet the needs of cabin automatic docking, and improve the efficiency and stability of the automatic docking systems effectively. © 2023 China Mechanical Engineering Magazine Office. All rights reserved.
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页码：1120 / 1125
页数：5
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