CN107990871A - A kind of relative pose measuring device and method based on multi-sensor data fusion - Google Patents
A kind of relative pose measuring device and method based on multi-sensor data fusion Download PDFInfo
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- CN107990871A CN107990871A CN201710788475.5A CN201710788475A CN107990871A CN 107990871 A CN107990871 A CN 107990871A CN 201710788475 A CN201710788475 A CN 201710788475A CN 107990871 A CN107990871 A CN 107990871A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The present invention proposes a kind of relative pose measuring device and method based on multi-sensor data fusion.Pose measuring apparatus includes slave computer and host computer two parts.Slave computer, that is, integral measuring unit, is integrated with vision measurement, range measurement, inertia measuring module.The unit has independent current source, can gather a variety of data.By the location hole of its bottom with treating that piece installing is connected during use, the target plate with being fixed on standard is used cooperatively, and parses the relative pose for treating piece installing and standard, and posture information is back to host computer by RF wireless signals.Host computer, that is, tablet computer, can intuitively be shown the data that slave computer returns with numerical value and threedimensional model two ways.The measuring device switching interface is general, can adapt to a variety of docking operating modes；The changeable use pattern of sensor, can be directed to the different docking stages；Measurement result is accurate, bandwagon effect is friendly, can quantify, intuitively guide docking operation.Therefore there is important research significance and be widely applied prospect.
Description
Technical field
The present invention obtains big component docking operation using the collection of multisensor letter parameter measuring device, fusion measurement data
In relative pose, it is directly perceived, accurately guide operating personnel and complete pose monitoring, belong to the measurement for large-size components
Aid in docking field.
Background technology
As the development of national economy and the traditional industry field such as the raising of advanced manufacture level, Aeronautics and Astronautics, ship exist
Constantly lifted in technological level, especially also obtained great development in big component docking field.It is at present to use total powerstation, take the photograph more
Shadow measurement and laser tracker etc. are suitable for the instrument of large-scale metrology.Its general operating process be chosen on two components it is several
A key measurement point, obtains key point coordinate under measuring coordinate system, so as to two components are fitted to same by measuring instrument
Dock under coordinate system, the relative pose of component, including relative position and relative attitude angle are obtained, respectively with three location components
(x, y, z) and three angle components (a, b, c) represent.
Improved with the complication lifting of big component docking mission with required precision, single-sensor is difficult to obtain more preferable
Effect, generally requires multisensor combined measurement, by the adjustment to multigroup measurement data, analysis and fusion, completes to taking over
Business.And be closely integrated problem, multi-source heterogeneous problem of data fusion etc. of the multisensor thus brought become the emphasis of research.
Multisensor integration and fusion technology has become the important research direction in measurement auxiliary assembling field, it across signal processing,
The multiple fields such as hardware design, the communication technology, machine vision, are one of key foundations of New Generation of Intelligent manufacturing technology.In face
During to complicated measurement task, the docking operation information of more horn of plenty, data fusion can be obtained under the help of integral measuring technology
Technology can be such that various kinds of sensors shares exactly at any time, checking treatment information data, and then the decision-making for user and assessment band
Carry out stronger support, thus important value and effect are highlighted in e measurement technology development.
For application of the integral measuring technology in big component docking field, domestic and international many experts and scholars have carried out this greatly
Quantifier elimination.Document " multi path laser tracks the research of interferometer measuration system " utilizes laser tracker distance measuring unit precision
The advantages of high, have studied multi-path laser tracking Fusion Measurement System (Zhang Guoxiong, plumcot China, woods forever soldier multi paths laser with
Research [J] the University Of Tianjin journal of track interferometer measuration system, 2003,36 (1):23-27.)；Document " is based on Multi-sensor Fusion
TBM attitude angle measuring methods " propose the attitude measurement method of Multi-sensor Fusion, surveyed using inclinator, gyroscope fusion
Measure attitude angle, when under inclinator failure conditions use revised gyro data calculate attitude angle (Zhang Chuncao, Zhang Jianbo, Zhu
TBM attitude angle measuring method [J] Central China University of Science and Technology journals (natural science edition) of the national power based on Multi-sensor Fusion,
2015,43 (12):48-51)；Document " pose parameter Estimation between the spacecraft based on Multi-sensor Fusion ", which proposes, utilizes monocular
Between the spacecraft that vision is mixed with laser range finder relative position and attitude parameter measurement analytical algorithm (Feng Chun, Wu Hongtao, it is old
Pose parameter Estimation [J] is infrared between spacecrafts of the cypress based on Multi-sensor Fusion and laser engineering, 2015,44 (5):1616-
1622).He Zhao using ultrasonic sensor and magnetometer come compensate inertial sensor drift method, using magnetometer with
Three axis accelerometer is combined, by measure gravity and magnetic-field vector of the earth determine the position of object and posture (He Zhao,
Zheyao Wang.Motion measurement using inertial sensors,ultrasonic sensors,and
magnetometers with extended kalman filter for data fusion[J],IEEE Sensors
Journal.2012)；A kind of method that YW Zhou propose measurement train speed based on Multi-sensor Fusion and position is more
Sensing system includes number of axle meter, Doppler radar, accelerometer, realizes that Multi-sensor Fusion is surveyed eventually through Kalman filtering
Measure train speed and position (YW Zhou.Research of Multi-Sensor Integration System for
Train Speed and Position Measurement[J]Applied Mechanics&Materials,2012,105-
107:1920-1925).In being studied more than, the method for measuring large-size components relative pose is merged using more traditional instruments,
Required equipment is expensive, volume is big, complicated, it is necessary to which manually a large amount of participate in measurement process, it is difficult in the process of component movement
Middle acquisition real-time pose.The present invention permeates vision measurement, laser ranging, inertial measurement system an independent, compact
Integral measuring unit, only need simply with treating that piece installing is connected its relative pose relation with standard that can measure, and other
Docking operation kinematic parameter, can intuitively, accurately guide big component docking operation.
The content of the invention
The present invention is solves the problems, such as relative pose tracking measurement in big component docking operation, towards practical engineering application,
Reasonably construct a set of relative pose monitoring method for component docking；Device is set comprising slave computer, host computer and auxiliary
It is standby, slave computer, that is, integral measuring unit be responsible for gather image, laser, inertial data, complete Data Fusion, acquired results with
Wireless signal form beams back host computer；Host computer is responsible for further processing and receives data, forms component relative pose and with directly perceived
Mode is shown, guides butt-joint operation；Ancillary equipment is included in optical target plate used in the docking accurate measurement stage, and for solid
Slave computer, target plate are determined in the pinboard for treating piece installing and standard.
Pose monitoring method specific features are in some embodiments：Measured with integral measuring unit (need to demarcate in advance)
Based on data, different data combinations and fusion method are selected in docking different phase, gets the lower relative pose of measurement system
Relation, then by prioris such as integral measuring unit installation sites, be converted to and treat that the relative pose of piece installing and standard closes
System, and with model real-time simulation docking operation in the form of three-dimensional visualization, there is provided guiding directly perceived and warning function, while data
Collection terminal is connected with data display end using wireless signal, can meet the requirement of monitoring mated condition in real time.
Calibration specific features are in advance in some embodiments：Each sensor assembly of integral measuring unit is carried out first certainly
Body parameter calibration, mainly industrial camera inside and outside parameter；The pass of each sensor assembly and cell enclosure design coordinate system is demarcated again
System for camera be displacement with six amounts of attitude misalignment, for gyro is three amounts of attitude misalignment, is that luminous point is sat for laser
Six amounts of mark and directions of rays；Calibrating parameters are finally imported into software systems, all measured values just are transformed into cell enclosure sits
Under mark system；Cell enclosure with treat piece installing lead to known dimensions cross location hole be connected, measuring basis can be transferred to and treat piece installing.
Fusion method specific features are in some embodiments：Different measurement data are unified to the same coordinate system, together
One time shaft, same expression form, recycles the thought of filtering to carry out being overlapped the measured value of each dimension fusion, utilizes
Redundant data reduces error.
Integral measuring unit specific features are in some embodiments：It is mainly by vision measurement module, laser ranging
Module, attitude measurement module, data transmission module, usb hub, miniature calculation rod, power module, package casing composition, institute
Have module encapsulation be fixed in shell, housing parts are connected by screw, and outer casing bottom has four location holes, for it is to be installed
Part connects；Its operating mode is parsed and sealed to collect after each sensor gathered data through usb hub to miniature calculation rod
Dress, after host computer wirelessly beamed back by data transmission module, all devices are powered by power module.
Wireless signal specific features are in some embodiments：Carrier utilizes RF signals, can low-power consumption, complete at a distance
Into transmitting procedure；Signal content is formed by the information such as timestamp, device numbering, specific data, compressed encoding post package.
Host computer specific features are in some embodiments：It is made of tablet computer connection RF wireless signal receivers,
Relative pose monitoring software system is carried on tablet computer, parameter configuration can be completed, relative pose is accurately shown, relative pose
The functions such as three-dimensional visualization is shown, safe early warning.
Optical target plate specific features are in some embodiments：Comprising the optical design for visual identity, and
The operation coordinate system direction indication for being supplied to operating personnel to refer to, and with Multiple Type, the target plate of different size size, use
In the relative pose measurement for completing different interval distance.
Pinboard specific features are in some embodiments：With with the matched positioning of integral measuring unit base
The installation interface being connected under hole, and actual condition with treating piece installing, the selection principle for installing interface ensure in docking operation
In the accurate adjustment stage, light path is unobstructed unobstructed between integral measuring unit and target plate, and target plate also needs pinboard to be surveyed with integrated for this
Measure unit pinboard to correspond to, feature is with the plane that can paste target pattern, and what with standard can be connected connect
Mouthful.
The operation of relative pose measuring system described in detail below and use step：
1. preparing the supporting facility of butt-joint operation, confirm that all hardware functions of the equipments are intact, software normal operation；
2. treating piece installing, the suitable position that is used for installing integral measuring unit, target plate being chosen on standard, ensure right
Connecing terminal stage, light path is unobstructed unobstructed between the two, and marks integral measuring list using model information or third party's measuring instrument
Member, installation site of the target plate in the case where treating piece installing, standard；
3. each sensor of integral measuring unit is demarcated, by calibrating parameters import system；
4. opening integral measuring unit, data acquisition program is run；
5. opening host computer, pose monitoring of software is run, carry out upper and lower computer communication connection test, and measurement mould is set
Formula, secure threshold and other measurement parameters such as measuring device mounting process point coordinates information etc.；
6. docking final measurement based on model or based on the last time, the object pose of docking mission is determined；
7. starting butt-joint operation, system proceeds by relative pose real-time resolving, and is cut automatically according to the different docking stages
Measurement pattern is changed, software interface real-time update component three-dimensional model attitude, shows the accurate numerical information of relative pose；
8. when the key point monitored is smaller than set threshold value, system is alarmed；
9. final real-time pose and object pose error are less than setting value, docking operation terminates；
10. docking operation document data record is formed, for subsequent analysis, playback.
The present invention has the following advantages and beneficial effect：
1. the measuring device of the present invention has miniaturization, intelligence relative to traditional measurement instrument such as laser tracker, iGPS etc.
The characteristics of energyization, flexibility, multiple product is adapted to for docking operating mode；
2. integral measuring unit is relatively independent, installation is simple, non-contact measurement principle is utilized, it is possible to achieve joint unit
The tracking measurement of relative pose；
3. integral measuring unit merges multiple sensors measurement result, the docking operation information of acquisition is more, synthesis result
It is more reliable.
4. measuring apparatus cost is low, easy to operate, various complicated, bad working environments are applicable in, engineering practicability is strong；
, can intuitively, accurately 5. integral measuring unit and host computer cooperating, show measurement data in the form of abundant
Guide butt-joint operation, and danger early warning function.
Brief description of the drawings
Fig. 1 integral measurings unit composition figure
Fig. 2 target plate schematic diagrames
Fig. 3 measuring system application scenarios schematic diagrams
Fig. 4 system main working process schematic diagrames
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment is the present invention further detailed description：
First, the design of integral measuring unit and calibration
1. integral measuring unit select industrial camera, laser range sensor, nine axis gyrosensors as high-definition image,
The collecting device of distance value, attitude value, using miniature calculation rod as slave computer data processing equipment, is powered by power module, is completed
Collection to more heat transfer agents returns to host computer with merging, and by the posture information for calculating gained by RF module transfers, entirely
Unit is packaged as a whole, and size is less than 150mm × 150mm × 150mm, and bottom is designed with location hole and is connected with joint unit, made
Used time can also add pinboard and treat piece installing to adapt to different installation interfaces.(such as Fig. 1)
2. integral measuring unit using preceding needing to be demarcated, carries out integral measuring unit each sensor assembly itself ginseng first
Number calibration, mainly industrial camera inside and outside parameter, are realized using Zhang Zhengyou calibration algorithms；Each sensor assembly and unit are demarcated again
The relation of shelling machine coordinate system, for camera to be displacement with six amounts of attitude misalignment, for gyro be three amounts of attitude misalignment,
It is six amounts of point coordinates and directions of rays that shine for laser, is realized using hand and eye calibrating algorithm；Finally calibrating parameters are imported
All measured values, are just transformed under cell enclosure coordinate system by software systems；Cell enclosure is with treating that the mistake of known dimensions is led in piece installing
Location hole connects, and can be transferred to measuring basis and treat piece installing
2nd, target target designs
4. index point configuration conceptual design is varied on target plate, as long as index point number, which is more than 3, can build PnP
Model, camera can calculate coordinate system where index point and the relative pose of camera coordinates system, and index point used need to use the
Tripartite's instrument (theodolite, laser tracker etc.) calibration arrives under part coordinates system and is used as prior information.In order to facilitate operating personnel
Assembling coordinate system and Motor execution coordinate system are changed, relevant information is also labeled with target plate.The present invention is according to different operating modes
A series of index point configuration scheme is provided, according to different operating modes, conveniently selects suitable scheme, typical target target designs
Such as Fig. 2.
3rd, system main operational principle
System application scenarios are as shown in figure 3, workflow is as shown in Figure 4：
1. obtaining multi-sensor data by integral measuring unit (slave computer) first, multiple sensing datas are classified and sentenced
Not, processing is filtered, rejects unreasonable data, and is identified plus timestamp, Unified coding is data packet, wireless by RF
Module carries out data back.Image processing algorithm wherein included uses EPNP Algorithm for Solving relative poses；It is also specific at the same time
Serial port protocol collection gyroscope and laser sensor data.
2. host computer installs developed special-purpose software, the pose measurement of measuring device passback can be obtained in real time as a result,
And it can identify and judge operating mode, measurement pattern.When target plate can be captured in industrial camera visual field, clicked through according to mark
Line position appearance resolves, and gyro provides calibration function with laser measurement data；When target plate is invisible, only provided by gyro and laser
The pose guiding of 4 frees degree, while the movable information such as acceleration of component in docking operation can also be monitored.It is being resolved to pose
After parameter, system real-time Simulation component in the form of three-dimensional visualization moves, and posture information is shown with accurate numerical result.Together
When according to the risk distance threshold value of defined model reference point, carry out safe early warning.Whole docking operation, the number of all generations
According to will all be recorded, support can be provided for subsequent analysis and process playback.
4th, the relative pose method for solving based on monocular camera
Pin-hole model, two-dimentional phase point p (x, y) and corresponding three-dimensional object point P (X are shot from cameraW,YW,ZW) between close
System meets formula
Wherein the internal reference matrix of camera includes intrinsic parameter (fx,fx,uo,vo).The outer ginseng matrix of camera includes outer ginseng spin moment
Battle array R, translation matrix T.
Camera intrinsic parameter (f can be solved according to multigroup R, T according to Zhang Zhengyou standardizationsx,fx,uo,vo), and recorded and be
System, treats equipment in actual use, using intrinsic parameter as it is known that solving corresponding outer parameter matrix R, T according to multigroup target point, i.e.,
The relative pose matrix of camera and target plateMatrix can be obtained by the camera and sensor outer housing relation demarcated in advanceSensor outer housing can be obtained by the location hole of outer casing bottom and treat the relational matrix of piece installingBy the 3rd
Index point coordinate under standard coordinate system on square measuring apparatus measure target plate, can obtain the relationship of the twoWith reference to
Above each several part relation, can obtain treating piece installing and standard relative pose matrix:
Claims (9)
1. relative pose measuring device and method based on multi-sensor data fusion, it is characterised in that with relative pose integral measuring
Based on device, a set of relative pose monitoring method for component docking is constructed；Device include slave computer, host computer with it is auxiliary
Equipment is helped, slave computer, that is, integral measuring unit is responsible for gathering image, laser, inertial data, completes Data Fusion, gained knot
Fruit beams back host computer in the form of wireless signal；Host computer be responsible for further processing receive data, formed component relative pose and with
Intuitive manner is shown, guides butt-joint operation；Ancillary equipment is included in optical target plate used in the docking accurate measurement stage, Yi Jiyong
In fixed slave computer, target plate in the pinboard for treating piece installing and standard.
2. relative pose measuring device and method based on multi-sensor data fusion as claimed in claim 1, it is characterised in that
The pose monitoring method specific features are：Based on integral measuring unit (need to demarcate) measurement data in advance, in docking not
Different data combinations and fusion method are selected with the stage, gets the lower relative pose relation of measurement system, then pass through integral measuring
The prioris such as unit installation site, are converted to the relative pose relation for treating piece installing and standard, and with three-dimensional visualization
Form model real-time simulation docking operation, there is provided guiding directly perceived and warning function, while data acquisition end and data display end
Connected using wireless signal, can meet the requirement of monitoring mated condition in real time.
3. relative pose measuring device and method based on multi-sensor data fusion as claimed in claim 2, it is characterised in that
It is described in advance calibration specific features be：Each sensor assembly inherent parameters calibration of integral measuring unit, mainly work are carried out first
Industry camera inside and outside parameter；Demarcate the relation of each sensor assembly and cell enclosure design coordinate system again, for camera be displacement with
Attitude misalignment six is measured, is three amounts of attitude misalignment for gyro, is six amounts of point coordinates and directions of rays that shine for laser；
Calibrating parameters are finally imported into software systems, just all measured values are transformed under cell enclosure coordinate system；Cell enclosure is with treating
The location hole of crossing that known dimensions are led in piece installing connects, and can be transferred to measuring basis and treat piece installing.
4. relative pose measuring device and method based on multi-sensor data fusion as claimed in claim 2, it is characterised in that
The fusion method specific features are：Different measurement data are unified to the same coordinate system, same time shaft, same statement shape
Formula, recycles the thought of filtering to carry out being overlapped fusion to the measured value of each dimension, reduces error using redundant data.
5. relative pose measuring device and method based on multi-sensor data fusion as claimed in claim 1, it is characterised in that
The integral measuring unit specific features are：It is mainly by vision measurement module, laser ranging module, attitude measurement module, number
According to transport module, usb hub, miniature calculation rod, power module, package casing composition, shell is fixed in all module encapsulation
Interior, housing parts are connected by screw, and outer casing bottom has four location holes, for treating that piece installing is connected；Its operating mode is
Collect after each sensor gathered data through usb hub to miniature calculation rod and parsed and encapsulated, after by data transmission module
Host computer is wirelessly beamed back, all devices are powered by power module.
6. relative pose measuring device and method based on multi-sensor data fusion as claimed in claim 1, it is characterised in that
The wireless signal specific features are：Carrier utilizes RF signals, can low-power consumption, complete transmitting procedure at a distance；Signal content
By information such as timestamp, device numbering, specific data, compressed encoding post package is formed.
7. relative pose measuring device and method based on multi-sensor data fusion as claimed in claim 1, it is characterised in that
The host computer specific features are：It is made of tablet computer connection RF wireless signal receivers, opposite position is carried on tablet computer
Appearance monitoring software system, can complete parameter configuration, relative pose is accurately shown, relative pose three-dimensional visualization is shown, safety
The functions such as early warning.
8. relative pose measuring device and method based on multi-sensor data fusion as claimed in claim 1, it is characterised in that
The optical target plate specific features are：Comprising the optical design for visual identity, and it is supplied to what operating personnel referred to
Operation coordinate system direction indication, and with Multiple Type, the target plate of different size size, for completing different interval distance
Relative pose measures.
9. relative pose measuring device and method based on multi-sensor data fusion as claimed in claim 1, it is characterised in that
The pinboard specific features are：With with the matched location hole of integral measuring unit base, and with treating under actual condition
The installation interface of piece installing connection, the selection principle for installing interface is the accurate adjustment stage ensured in docking operation, integral measuring unit
Light path is unobstructed unobstructed between target plate, and target plate also needs pinboard corresponding with integral measuring unit pinboard for this, feature
It is with the plane that can paste target pattern, and the interface that can be connected with standard.
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Application publication date: 20180504 |