CN110455277B - High-precision attitude measurement device and method based on data fusion of Internet of things - Google Patents
High-precision attitude measurement device and method based on data fusion of Internet of things Download PDFInfo
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Abstract
The invention provides a high-precision attitude measurement device and method based on data fusion of the Internet of things, and belongs to the technical field of high-precision measurement of the Internet of things. According to the invention, a measuring reference plane is positioned above a target to be measured, laser range finders are arranged perpendicular to the upper surface of the target to be measured, a laser line is intersected with the measuring reference plane to obtain a light spot characteristic point, and an output value is the distance between an emitter and the light spot characteristic point; the distance between the distance meter and the measuring reference plane is uploaded to an inlet of a cloud attitude calculation algorithm, and the attitude of the target to be measured is calculated through space vector operation; and after the attitude calculation is finished, distributing the result to other modules through a wireless network according to the request instructions of the other modules to the result. The output result of the invention is not influenced by the change of conditions such as environmental illumination and the like, can be directly used for attitude calculation, can shorten the measurement time, improves the sampling frequency and the real-time property of the system, and has low cost and high modularization degree.
Description
Technical Field
The invention relates to a high-precision attitude measurement device and method based on data fusion of the Internet of things, and belongs to the technical field of high-precision measurement of the Internet of things.
Background
At present, in the field of motion simulation and industrial fields, the posture of a target to be measured needs to be measured, contact measurement is not allowed in some occasions, so that the traditional modes of gratings, code discs and the like are not suitable any more, the measurement cost is limited more in some occasions, and an economical and practical non-contact measurement mode is needed.
The paper "computer vision-aided determination of attitude of five-degree-of-freedom air bearing table" (proceedings of Sichuan university, xu Jian, 20090720) in the prior art proposes a method for assisting attitude measurement of a five-degree-of-freedom air bearing table by using computer vision. The method designs a combined attitude determination scheme of monocular vision, a two-axis inclinometer and a three-axis gyroscope, acquires the moving image of the air bearing table in real time through a camera, identifies the image coordinates of an on-table positioning indicator lamp, and further calculates the yaw angle of the air bearing table. However, although the proposed method for assisting the attitude measurement of the five-degree-of-freedom air bearing table by using the computer vision can solve the yaw angle of the air bearing table through the air bearing table moving image acquired by the camera, the attitude measurement of the air bearing table by using a combined attitude determination scheme of monocular vision, a two-axis inclinometer and a three-axis gyroscope cannot be realized through a single sensor, the measurement precision is affected by a plurality of factors, the error analysis and compensation are difficult to perform, and various sensors including the gyroscope are used, so that the realization cost of the measurement system is high, and the modularization degree is low.
An article in the prior art "three-axis air bearing table attitude determination based on computer vision" (computer measurement and control, qifang, 20150225) proposes an attitude determination scheme based on computer vision. The scheme designs a plane target which is characterized by non-concentric circle pairs, and the posture of the plane target under a camera coordinate system is calculated based on a quadratic curve invariance theory, so that the determination of the three-axis posture of the air bearing table is realized. The scheme is verified by experiments to realize the accurate measurement of the attitude of the triaxial air bearing table. However, although the proposed posture determination scheme based on computer vision can determine the posture of the triaxial air bearing table by calculating the posture of the pre-installed cooperative target, it is still impossible to avoid the influence of factors such as the change of illumination conditions on the imaging of the camera, and it is difficult to ensure higher measurement accuracy when the illumination conditions are not good.
In the prior art, a patent of 'a method for measuring a target space attitude with parallel line characteristics' (invention patent, haunche, 20180202) provides a method for measuring a target space attitude with parallel line characteristics. The method firstly calculates the space direction vector of a straight line of the line laser irradiated on the surface of the measured target, solves the attitude angle and the azimuth angle through the rotation transformation of a coordinate system, and has the characteristics of convenient erection of a measuring system, low cost, simple measuring steps and the like. However, although the proposed method for measuring the spatial attitude of the target with the parallel line characteristics can solve the attitude angle and the azimuth angle through calculating the spatial direction vector of the straight line of the line laser irradiated on the surface of the target to be measured and further through the rotation transformation of the coordinate system, the industrial camera is used as a measuring sensor, the obtained measurement data can obtain a final measurement result after the steps of preprocessing, characteristic extraction, pose settlement and the like, the time required by the whole measurement process is long, and the sampling frequency and the real-time performance are restricted.
Disclosure of Invention
The invention aims to solve the problems that the attitude of an air bearing table cannot be measured through a single sensor, the influence of factors such as illumination condition change on camera imaging cannot be avoided, the obtained measurement data can obtain a final measurement result after steps such as preprocessing and the like, the required time is long, the sampling frequency and the real-time performance are restricted and the like in the prior art, and further provides a high-precision attitude measuring device and method based on data fusion of the Internet of things.
The purpose of the invention is realized by the following technical scheme:
a high-precision attitude measurement device based on data fusion of the Internet of things comprises a measurement reference plane, a target to be measured and a laser range finder;
the measuring reference plane is located above the target to be measured, the three laser range finders are all perpendicular to the upper surface of the target to be measured and installed, laser lines emitted by the laser range finders intersect with the measuring reference plane to obtain corresponding spot feature points, the measuring output values of the laser range finders are the distances between emitters of the laser range finders and the spot feature points, the target to be measured rotates in three degrees of freedom, and the rotating range of the target to be measured ensures that the spot feature points corresponding to the three laser range finders are all located on the measuring reference plane.
A high-precision attitude measurement method based on data fusion of the Internet of things comprises the following steps:
the transmitters of the three laser range finders are respectively marked as A, B and C, and the light spot characteristic points corresponding to the three laser range finders are respectively marked as A 1 、B 1 、C 1 ；
Firstly, establishing a coordinate system required by attitude measurement, establishing a reference coordinate system W fixedly connected with a measurement reference plane, wherein an Oxy plane of the reference coordinate system W coincides with the measurement reference plane, an Oz axis of the reference coordinate system W is vertical to the measurement reference plane, similarly, establishing an object coordinate system T fixedly connected with the upper surface of a target to be measured, wherein the Oxy plane of the object coordinate system T coincides with the upper surface of the target to be measured, and the Oz axis of the object coordinate system T is vertical to the upper surface of the target to be measured;
then, the three laser range finders start to measure the distances from the three laser range finders to the measurement reference plane, which are respectively marked as h A 、h B 、h C After the measured value of the distance is obtained, uploading the measured value to an inlet of a cloud attitude calculation algorithm, and calculating through space vector operation to obtain the attitude of the target to be measured;
after the cloud end completes attitude calculation, the attitude measurement result is distributed to other modules through a wireless network according to request instructions of the other modules for the attitude measurement result.
The beneficial effects of the invention are as follows:
the invention adopts the laser range finder as the sensor, the output result of the sensor is less influenced by environmental factors and cannot be influenced by the change of conditions such as environmental illumination and the like. Compared with an industrial camera, the output value of the laser range finder has definite physical significance, extra steps such as preprocessing and feature extraction are not needed, and the laser range finder can be directly used for settlement of postures, so that the measuring time can be shortened, and the sampling frequency and the real-time performance of the system are improved.
The sensor required in the measuring method only comprises the laser range finder, and the method does not need the assistance of other sensors, and can realize the advantages of lower cost and higher modularization degree. And the attitude calculation algorithm runs at the cloud, and the sensor end only needs to have a basic network communication function, so that the hardware equipment of the sensor end can be designed as far as possible, is simple and portable, and is convenient to install, and the influence of the sensor installation on the target to be detected is reduced to the maximum extent. In addition, the distribution of the attitude measurement result is also carried out at the cloud, so that the receiving end of the measurement data can conveniently request the measurement data and receive the measurement data through the network, and the number of the receiving ends is not required to be increased or reduced when the number of the receiving ends is changed, so that the measurement system is more flexible in use.
Drawings
Fig. 1 is a schematic structural diagram of a high-precision attitude measurement device based on data fusion of the internet of things.
Fig. 2 is a simplified schematic diagram of the high-precision attitude measurement device based on data fusion of the internet of things.
In the figure, reference numeral 1 denotes a measurement reference plane, 2 denotes an object to be measured, and 3 denotes a laser range finder.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation is given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1 and fig. 2, the high-precision attitude measurement device based on data fusion of the internet of things according to the present embodiment includes: the device comprises a measuring reference plane 1, a target to be measured 2, a laser range finder 3 and the like;
as shown in fig. 1, the measurement reference plane 1 is located above the target 2 to be measured, the three laser range finders 3 are all installed perpendicular to the upper surface of the target 2 to be measured, a laser line emitted by the laser range finders 3 intersects with the measurement reference plane 1 to obtain corresponding spot feature points, a measurement output value of the laser range finders 3 is a distance from an emitter of the laser range finders 3 to the spot feature points, the target 2 to be measured rotates in three degrees of freedom, and the rotating range of the target ensures that the spot feature points corresponding to the three laser range finders are all located on the measurement reference plane.
The measurement method of the high-precision attitude measurement device based on the data fusion of the Internet of things comprises the following steps:
as shown in FIG. 2, the emitters of the three laser range finders are respectively marked as A, B and C, and the spot feature points corresponding to the three laser range finders are respectively marked as A 1 、B 1 、C 1 ；
Firstly, establishing a coordinate system required by attitude measurement, establishing a reference coordinate system W fixedly connected with a measurement reference plane, wherein an Oxy plane of the reference coordinate system W coincides with the measurement reference plane, an Oz axis of the reference coordinate system W is vertical to the measurement reference plane, similarly, establishing an object coordinate system T fixedly connected with the upper surface of a target to be measured, wherein the Oxy plane of the object coordinate system T coincides with the upper surface of the target to be measured, and the Oz axis of the object coordinate system T is vertical to the upper surface of the target to be measured;
then, the three laser range finders start to measure the distances from the three laser range finders to the measurement reference plane, which are respectively marked as h A 、h B 、h C After the measured value of the distance is obtained, uploading the measured value to an inlet of a cloud attitude calculation algorithm, and calculating through space vector operation to obtain the attitude of the target to be measured;
after the cloud end completes attitude calculation, the attitude measurement result is distributed to other modules through a wireless network according to request instructions of the other modules for the attitude measurement result.
The specific attitude calculation process is as follows:
according to the installation positions of the three laser range finders, the coordinates of the points A, B and C in an object coordinate system can be obtained and are respectively marked as P A 、P B 、P C ；
Because the three laser range finders are all arranged perpendicular to the upper surface of the target to be measured, the laser beams emitted by the laser range finders can be obtained to be parallel to the Oz axis of the object coordinate system, and therefore, the points A, B and C and the point A 1 、B 1 、C 1 Only the z-axis coordinate is different from the point A, and the coordinate value is just the measured value of the corresponding laser range finder, so that the point A can be obtained 1 、B 1 、C 1 The coordinates in the object coordinate system are respectively denoted as P A ′、P B ′、P C ′；
Next, the coordinates P of the points A, B and C in the object coordinate system A 、P B 、P C And point A 1 、B 1 、C 1 Coordinate P in object coordinate system A ′、P B ′、P C Solving a rotation matrix of a reference coordinate system W relative to an object coordinate system T;
in plane A 1 B 1 C 1 In, find two space vectors
Having coordinates respectively of
Can find out the plane A 1 B 1 C 1 Normal vector at object coordinate T
And plane A 1 B 1 C 1 Normal vector of (1)
Thus, the rotation axis of the reference coordinate system W relative to the object coordinate system T can be determined
And a rotation angle θ;
according to the transformation relation between the axial angle pair and the rotation quaternion, the rotation quaternion q of the reference coordinate system W relative to the object coordinate system T can be obtained
Wherein n is x 、n y And n z Are respectively a rotating shaft
3 components of q 0 、q 1 、q 2 And q is 3 Respectively 4 components of the rotational quaternion q.
According to the transformation relation between the rotation quaternion and the rotation matrix, the rotation matrix of the reference coordinate system W relative to the object coordinate system T can be obtained
Finally, a rotation matrix according to the reference coordinate system W relative to the object coordinate system T
The rotation matrix ^ or ^ of the object coordinate system T relative to the reference coordinate system W can be determined>
Rotation matrix of object coordinate system T relative to reference coordinate system W
Namely the measured attitude information.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (2)
1. A high-precision attitude measurement device based on data fusion of the Internet of things is characterized by comprising a measurement reference plane (1), an object to be measured (2) and a laser range finder (3);
the measuring reference plane (1) is positioned above the target to be measured (2), the three laser range finders (3) are all arranged perpendicular to the upper surface of the target to be measured (2), laser lines emitted by the laser range finders (3) are intersected with the measuring reference plane (1) to obtain corresponding spot characteristic points, the measuring output value of the laser range finders (3) is the distance between an emitter of the laser range finders (3) and the spot characteristic points, the target to be measured (2) rotates in three degrees of freedom, and the rotating range ensures that the spot characteristic points corresponding to the three laser range finders (3) are all positioned on the measuring reference plane (1);
the specific attitude calculation process is as follows:
according to the installation positions of the three laser range finders, the coordinates of the points A, B and C in an object coordinate system can be obtained and are respectively marked as P A 、P B 、P C ；
Because the three laser range finders are all arranged perpendicular to the upper surface of the target to be measured, the laser beams emitted by the laser range finders can be obtained to be parallel to the Oz axis of the object coordinate system, and therefore, the points A, B and C and the point A 1 、B 1 、C 1 Only the z-axis coordinate is different from the point A, and the coordinate value is just the measured value of the corresponding laser range finder, so that the point A can be obtained 1 、B 1 、C 1 The coordinates in the object coordinate system are respectively denoted as P A ′、P B ′、P C ′；
Next, according to the coordinate P of the points A, B and C in the object coordinate system A 、P B 、P C And point A 1 、B 1 、C 1 Coordinate P in object coordinate system A ′、P B ′、P C Solving a rotation matrix of a reference coordinate system W relative to an object coordinate system T;
in plane A 1 B 1 C 1 In, find two space vectors
The coordinates thereof are respectively->
Can find out the plane A 1 B 1 C 1 Normal vector at object coordinate T
And plane A 1 B 1 C 1 Normal vector of (1)
Thus, the rotation axis of the reference coordinate system W relative to the object coordinate system T can be obtained
And a rotation angle θ;
according to the transformation relation between the axial angle pair and the rotation quaternion, the rotation quaternion q of the reference coordinate system W relative to the object coordinate system T can be obtained
Wherein n is x 、n y And n z Are respectively a rotating shaft
3 components of q 0 、q 1 、q 2 And q is 3 4 components of a rotation quaternion q respectively;
according to the transformation relation between the rotation quaternion and the rotation matrix, the rotation matrix of the reference coordinate system W relative to the object coordinate system T can be obtained
Finally, a rotation matrix according to the reference coordinate system W relative to the object coordinate system T
The rotation matrix ^ or ^ of the object coordinate system T relative to the reference coordinate system W can be determined>
Rotation matrix of object coordinate system T relative to reference coordinate system W
Namely the measured attitude information.
2. A high-precision attitude measurement method based on data fusion of the Internet of things is characterized by comprising the following steps:
the emitters of the three laser range finders are respectively marked as A, B and C, and the corresponding spot characteristic points of the three laser range finders are respectively marked as A 1 、B 1 、C 1 ；
Firstly, establishing a coordinate system required by attitude measurement, establishing a reference coordinate system W fixedly connected with a measurement reference plane, wherein an Oxy plane of the reference coordinate system W coincides with the measurement reference plane, an Oz axis of the reference coordinate system W is vertical to the measurement reference plane, similarly, establishing an object coordinate system T fixedly connected with the upper surface of a target to be measured, wherein the Oxy plane of the object coordinate system T coincides with the upper surface of the target to be measured, and the Oz axis of the object coordinate system T is vertical to the upper surface of the target to be measured;
then, the three laser range finders start to measure the distances from the three laser range finders to the measurement reference plane, which are respectively marked as h A 、h B 、h C After the measured value of the distance is obtained, uploading the measured value to an inlet of a cloud attitude calculation algorithm, and calculating through space vector operation to obtain the attitude of the target to be measured;
after the cloud finishes attitude calculation, the attitude measurement result is distributed to other modules through a wireless network according to request instructions of other modules for the attitude measurement result;
the specific attitude calculation process is as follows:
according to the installation positions of the three laser range finders, the coordinates of the points A, B and C in an object coordinate system can be obtained and are respectively marked as P A 、P B 、P C ；
Because the three laser range finders are all arranged perpendicular to the upper surface of the target to be measured, the laser beams emitted by the laser range finders can be obtained to be parallel to the Oz axis of the object coordinate system, and therefore, the points A, B and C and the point A 1 、B 1 、C 1 Only the z-axis coordinate is different from the point A, and the coordinate value is just the measured value of the corresponding laser range finder, so that the point A can be obtained 1 、B 1 、C 1 The coordinates in the object coordinate system are respectively denoted as P A ′、P B ′、P C ′；
Next, the coordinates P of the points A, B and C in the object coordinate system A 、P B 、P C And point A 1 、B 1 、C 1 Coordinate P in object coordinate system A ′、P B ′、P C Solving a rotation matrix of a reference coordinate system W relative to an object coordinate system T;
in plane A 1 B 1 C 1 In, find two space vectors
Having coordinates respectively of
Can obtain a plane A 1 B 1 C 1 Normal vector at object coordinate T
And plane A 1 B 1 C 1 Normal vector of (1)
Thus, the rotation axis of the reference coordinate system W relative to the object coordinate system T can be obtained
And a rotation angle θ;
according to the transformation relation between the axial angle pair and the rotation quaternion, the rotation quaternion q of the reference coordinate system W relative to the object coordinate system T can be obtained
Wherein n is x 、n y And n z Are respectively a rotating shaft
3 components of q 0 、q 1 、q 2 And q is 3 4 components of a rotation quaternion q are respectively;
according to the transformation relation between the rotation quaternion and the rotation matrix, the rotation matrix of the reference coordinate system W relative to the object coordinate system T can be obtained
Finally, a rotation matrix according to the reference coordinate system W relative to the object coordinate system T
Can obtain the coordinates of the objectThe rotation matrix ^ of the system T relative to the reference coordinate system W>
Rotation matrix of object coordinate system T relative to reference coordinate system W
Namely the measured attitude information. />
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