CN110455277A - High-precision attitude measurement device and method based on Internet of Things data fusion - Google Patents
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Abstract
本发明提供了一种基于物联网数据融合的高精度姿态测量装置与方法，属于物联网高精度测量技术领域。本发明中测量基准平面位于待测目标的上方，激光测距仪均垂直于待测目标的上表面安装，激光线与测量基准平面相交得到光斑特征点，输出值为发射器到光斑特征点间的距离；测距仪测量得到的自身到测量基准平面之间的距离，被上传至云端姿态解算算法入口处，通过空间矢量运算计算得到待测目标姿态；完成姿态解算后，根据其他模块对结果的请求指令，将结果通过无线网络分发给其他模块。本发明输出结果不会受到环境光照等条件改变的影响，可直接用于姿态解算，能够缩短测量时间，提高系统采样频率和实时性，成本低，模块化程度高。
The invention provides a high-precision attitude measurement device and method based on data fusion of the Internet of Things, belonging to the technical field of high-precision measurement of the Internet of Things. In the present invention, the measurement reference plane is located above the target to be measured, and the laser range finder is installed perpendicular to the upper surface of the target to be measured. The laser line intersects with the measurement reference plane to obtain the spot feature point, and the output value is the distance between the emitter and the spot feature point. The distance between itself and the measurement reference plane measured by the rangefinder is uploaded to the entrance of the cloud attitude calculation algorithm, and the attitude of the target to be measured is calculated by space vector calculation; after the attitude calculation is completed, according to other modules The request command for the result distributes the result to other modules through the wireless network. The output result of the present invention will not be affected by changes in environmental lighting and other conditions, can be directly used for attitude calculation, can shorten measurement time, improve system sampling frequency and real-time performance, and has low cost and high modularization degree.
Description
技术领域technical field
本发明涉及一种基于物联网数据融合的高精度姿态测量装置与方法，属于物联网高精度测量技术领域。The invention relates to a high-precision attitude measurement device and method based on data fusion of the Internet of Things, belonging to the technical field of high-precision measurement of the Internet of Things.
背景技术Background technique
目前运动模拟领域、工业现场需要测量待测目标的姿态，有些场合不允许接触测量，这样光栅、码盘等传统方式不再适合，有的对测量成本限制较多，需要一种经济实惠、非接触的测量方式。At present, in the field of motion simulation and industrial sites, it is necessary to measure the attitude of the target to be measured. In some occasions, contact measurement is not allowed, so traditional methods such as gratings and code discs are no longer suitable. Some have more restrictions on measurement costs, and an economical, non-contact How contact is measured.
现有技术中论文“五自由度气浮台姿态的计算机视觉辅助确定”(四川大学学报，许剑，20090720)提出了一种使用计算机视觉辅助五自由度气浮台姿态测量的方法。该方法设计了一种“单目视觉+两轴倾角仪+三轴陀螺仪”的组合定姿方案，通过摄像机实时采集气浮台运动图像并识别出台上定位指示灯的图像坐标，进一步解算出气浮台的偏航角，该方法经实验验证能够对气浮台的姿态进行精确的估计和校正。但是其中提出的使用计算机视觉辅助五自由度气浮台姿态测量的方法，虽然可以通过摄像机采集到的气浮台运动图像解算出气浮台的偏航角，但采用了“单目视觉+两轴倾角仪+三轴陀螺仪”的组合定姿方案，无法实现通过单个传感器对气浮台姿态进行测量，测量精度受到多个因素的共同影响，难以进行误差的分析和补偿，而且使用了包括陀螺仪在内的多种传感器，测量系统的实现成本较高、模块化程度较低。The paper "Computer Vision-assisted Determination of Attitude of Five-DOF Air-Floating Platform" (Journal of Sichuan University, Xu Jian, 20090720) in the prior art proposes a method of using computer vision to assist the attitude measurement of five-DOF air-floating platforms. This method designs a combined attitude determination scheme of "monocular vision + two-axis inclinometer + three-axis gyroscope", collects the moving images of the air bearing platform in real time through the camera and recognizes the image coordinates of the positioning indicator lights on the platform, and further solves the problem. The yaw angle of the air bearing platform. The method has been verified by experiments to accurately estimate and correct the attitude of the air bearing platform. However, the method proposed using computer vision to assist the attitude measurement of the five-degree-of-freedom air-floor platform can calculate the yaw angle of the air-floor platform through the moving images of the air-floor platform collected by the camera, but it uses "monocular vision + two The combined attitude determination scheme of "axis inclinometer + three-axis gyroscope" cannot realize the measurement of the attitude of the air bearing platform through a single sensor. The measurement accuracy is affected by multiple factors, and it is difficult to analyze and compensate for errors. For various sensors including gyroscopes, the implementation cost of the measurement system is high and the degree of modularization is low.
现有技术中论文“基于计算机视觉的三轴气浮台姿态确定”(计算机测量与控制，邱万斌，20150225)提出了一种基于计算机视觉的姿态确定方案。该方案设计了一种以非同心圆对为特征的平面靶标，基于二次曲线不变理论，计算该平面靶标在摄像机坐标系下的姿态，实现气浮台三轴姿态确定。该方案经实验验证可以实现三轴气浮台姿态的精确测量。但是其中提出的基于计算机视觉的姿态确定方案，虽然可以通过计算事先安装的合作靶标的姿态进而确定三轴气浮台的姿态，但是仍然无法避免光照条件变化等因素对相机成像造成的影响，在光照条件不佳时难以保证较高的测量精度。The paper "Attitude Determination of Three-axis Air Bearing Platform Based on Computer Vision" (Computer Measurement and Control, Qiu Wanbin, 20150225) in the prior art paper proposes an attitude determination scheme based on computer vision. In this scheme, a planar target characterized by non-concentric circle pairs is designed. Based on the quadratic curve invariant theory, the attitude of the planar target in the camera coordinate system is calculated to realize the determination of the three-axis attitude of the air bearing platform. The scheme has been verified by experiments to achieve accurate measurement of the attitude of the three-axis air bearing platform. However, the attitude determination scheme based on computer vision proposed in it can determine the attitude of the three-axis air bearing table by calculating the attitude of the cooperative target installed in advance, but it still cannot avoid the influence of factors such as changes in lighting conditions on camera imaging. It is difficult to guarantee high measurement accuracy under poor lighting conditions.
现有技术中专利“一种对具有平行线特征的目标空间姿态测量方法”(发明专利，郝冲，20180202)提出了一种对具有平行线特征的目标空间姿态测量方法。该方法首先求取线激光照射到被测目标表面的直线的空间方向矢量，通过坐标系的旋转变换求解姿态角和方位角，具有测量系统架设方便、成本低、测量步骤简单等特点。但是其中提出的对具有平行线特征的目标空间姿态测量方法，虽然可以通过计算线激光照射到被测目标表面的直线的空间方向矢量，进而通过坐标系的旋转变换求解姿态角和方位角，但是由于采用了工业相机作为测量的传感器，得到的测量数据需要经过预处理、特征提取、位姿结算等步骤后才能得到最终的测量结果，整个测量过程所需的时间较长，采样频率和实时性受到制约。The patent in the prior art "A method for measuring the spatial attitude of a target with parallel line features" (invention patent, Hao Chong, 20180202) proposes a method for measuring the spatial attitude of a target with parallel line features. This method first obtains the space direction vector of the straight line irradiated by the line laser onto the surface of the measured target, and obtains the attitude angle and azimuth angle through the rotation transformation of the coordinate system. It has the characteristics of convenient measurement system setup, low cost, and simple measurement steps. However, the space attitude measurement method of the target with parallel line features proposed therein can calculate the attitude angle and azimuth angle through the calculation of the space direction vector of the line laser irradiated on the surface of the measured target, and then through the rotation transformation of the coordinate system. Due to the use of industrial cameras as the measurement sensor, the obtained measurement data needs to undergo steps such as preprocessing, feature extraction, and pose settlement before the final measurement result can be obtained. The entire measurement process takes a long time, and the sampling frequency and real-time restricted.
发明内容Contents of the invention
本发明的目的是为了解决上述现有技术存在的无法实现通过单个传感器对气浮台姿态进行测量，无法避免光照条件变化等因素对相机成像造成的影响，得到的测量数据需要经过预处理等步骤后才能得到最终的测量结果，且所需时间长，采样频率和实时性受到制约等问题，进而提供一种基于物联网数据融合的高精度姿态测量装置与方法。The purpose of the present invention is to solve the problem in the above-mentioned prior art that it is impossible to measure the attitude of the air bearing platform through a single sensor, and it is impossible to avoid the influence of factors such as changes in illumination conditions on camera imaging, and the obtained measurement data needs to be pre-processed and other steps Only after the final measurement results can be obtained, and it takes a long time, and the sampling frequency and real-time performance are restricted, etc., and then provide a high-precision attitude measurement device and method based on the data fusion of the Internet of Things.
本发明的目的是通过以下技术方案实现的：The purpose of the present invention is achieved through the following technical solutions:
一种基于物联网数据融合的高精度姿态测量装置，由测量基准平面、待测目标和激光测距仪组成；A high-precision attitude measurement device based on Internet of Things data fusion, which is composed of a measurement reference plane, a target to be measured and a laser range finder;
所述测量基准平面位于待测目标的上方，三个激光测距仪均垂直于待测目标的上表面安装，激光测距仪发射的激光线与测量基准平面相交得到对应的光斑特征点，激光测距仪的测量输出值为激光测距仪的发射器到光斑特征点之间的距离，待测目标做三自由度的转动，其转动的范围确保三个激光测距仪对应的光斑特征点均位于测量基准平面上。The measurement reference plane is located above the target to be measured, and the three laser range finders are installed perpendicular to the upper surface of the target to be measured. The laser line emitted by the laser range finder intersects with the measurement reference plane to obtain the corresponding spot feature points. The measurement output value of the rangefinder is the distance between the emitter of the laser rangefinder and the feature point of the spot. are located on the measurement reference plane.
一种基于物联网数据融合的高精度姿态测量方法，包括以下步骤：A high-precision attitude measurement method based on Internet of Things data fusion, comprising the following steps:
将三个激光测距仪的发射器分别记作A、B、C，将三个激光测距仪对应的光斑特征点分别记作A1、B1、C1；The emitters of the three laser rangefinders are respectively marked as A, B, and C, and the feature points of the light spots corresponding to the three laser rangefinders are respectively marked as A 1 , B 1 , and C 1 ;
首先，建立姿态测量所必需的坐标系，建立与测量基准平面固连的参考坐标系W，其Oxy平面与测量基准平面重合，Oz轴与测量基准平面垂直，类似地，建立与待测目标上表面固连的物体坐标系T，其Oxy平面与待测目标上表面重合，Oz轴与待测目标上表面垂直；First, establish the coordinate system necessary for attitude measurement, establish a reference coordinate system W fixed to the measurement reference plane, whose Oxy plane coincides with the measurement reference plane, and the Oz axis is perpendicular to the measurement reference plane. The object coordinate system T whose surface is fixed, its Oxy plane coincides with the upper surface of the target to be measured, and the Oz axis is perpendicular to the upper surface of the target to be measured;
之后，三个激光测距仪开始测量自身到测量基准平面之间的距离，分别记作hA、hB、hC，得到距离的测量值之后，将其上传至云端姿态解算算法的入口处，通过空间矢量运算计算得到待测目标的姿态；After that, the three laser rangefinders start to measure the distance between themselves and the measurement reference plane, which are recorded as h A , h B , and h C respectively. After obtaining the measured distance values, upload them to the entrance of the cloud attitude calculation algorithm At , the attitude of the target to be measured is obtained by calculating the space vector calculation;
在云端完成姿态解算之后，根据其他模块对姿态测量结果的请求指令，将姿态测量结果通过无线网络分发给其他模块。After the attitude calculation is completed in the cloud, the attitude measurement results are distributed to other modules through the wireless network according to the request instructions of other modules for the attitude measurement results.
本发明的有益效果为：The beneficial effects of the present invention are:
本发明采用激光测距仪作为传感器，传感器本身的输出结果受环境因素的影响较小，不会受到环境光照等条件改变的影响。并且与工业相机相比，激光测距仪的输出值具有明确的物理意义，不需要预处理、特征提取等额外的步骤，可以直接用于姿态的结算，从而能够缩短测量时间，提高系统的采样频率和实时性。The invention adopts the laser range finder as the sensor, and the output result of the sensor itself is less affected by environmental factors, and will not be affected by changes in conditions such as ambient light. And compared with industrial cameras, the output value of the laser rangefinder has a clear physical meaning, does not require additional steps such as preprocessing and feature extraction, and can be directly used for attitude settlement, thereby shortening the measurement time and improving the sampling of the system. frequency and timeliness.
本发明测量方法中所需的传感器仅包括激光测距仪，无需其他传感器的辅助，可以实现成本更低、模块化程度更高的优点。并且姿态解算算法在云端运行，传感器端仅需要具备基本的网络通信功能，因此传感器端的硬件设备可以尽可能设计地简单便携，在方便安装的同时最大限度地减少了传感器安装对待测目标本身的影响。此外，姿态测量结果的分发也在云端进行，因此测量数据的接收端可以方便地通过网络请求测量数据和接收测量数据，接收端数量改变时无需增加或减少物理连线，使得测量系统在使用上更加灵活。The sensors required in the measuring method of the present invention only include a laser rangefinder without the assistance of other sensors, and can achieve the advantages of lower cost and higher modularization. Moreover, the attitude calculation algorithm runs on the cloud, and the sensor side only needs to have basic network communication functions. Therefore, the hardware device on the sensor side can be designed as simple and portable as possible. influences. In addition, the distribution of attitude measurement results is also carried out on the cloud, so the receiver of the measurement data can easily request and receive the measurement data through the network, and there is no need to increase or decrease the physical connection when the number of receivers changes, making the measurement system more reliable in use more flexible.
附图说明Description of drawings
图1为本发明基于物联网数据融合的高精度姿态测量装置结构示意图。FIG. 1 is a schematic structural diagram of a high-precision attitude measurement device based on data fusion of the Internet of Things in the present invention.
图2为本发明基于物联网数据融合的高精度姿态测量装置简化示意图。Fig. 2 is a simplified schematic diagram of the high-precision attitude measurement device based on the data fusion of the Internet of Things according to the present invention.
图中的附图标记，1为测量基准平面，2为待测目标，3为激光测距仪。Reference numerals in the figure, 1 is the measurement reference plane, 2 is the target to be measured, and 3 is the laser rangefinder.
具体实施方式Detailed ways
下面将结合附图对本发明做进一步的详细说明：本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式，但本发明的保护范围不限于下述实施例。The present invention will be described in further detail below in conjunction with the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation is provided, but the protection scope of the present invention is not limited to the following embodiments.
如图1和图2所示，本实施例所涉及的一种基于物联网数据融合的高精度姿态测量装置，包括：测量基准平面1、待测目标2和激光测距仪3等组成；As shown in Figures 1 and 2, a high-precision attitude measurement device based on Internet of Things data fusion involved in this embodiment includes: a measurement reference plane 1, a target to be measured 2, and a laser range finder 3;
如图1所示，所述测量基准平面1位于待测目标2的上方，三个激光测距仪3均垂直于待测目标2的上表面安装，激光测距仪3发射的激光线与测量基准平面1相交得到对应的光斑特征点，激光测距仪3的测量输出值为激光测距仪3的发射器到光斑特征点之间的距离，待测目标2做三自由度的转动，其转动的范围应确保三个激光测距仪对应的光斑特征点均位于测量基准平面上。As shown in Figure 1, the measurement reference plane 1 is located above the target to be measured 2, and three laser range finders 3 are installed perpendicular to the upper surface of the target to be measured 2, and the laser lines emitted by the laser range finders 3 are in line with the measurement The reference plane 1 intersects to obtain the corresponding spot feature points, and the measurement output value of the laser range finder 3 is the distance between the transmitter of the laser range finder 3 and the feature points of the spot, and the target 2 to be measured rotates in three degrees of freedom. The range of rotation should ensure that the feature points of the light spots corresponding to the three laser rangefinders are all located on the measurement reference plane.
基于上述一种基于物联网数据融合的高精度姿态测量装置的测量方法，包括以下步骤：A measurement method based on the above-mentioned high-precision attitude measurement device based on Internet of Things data fusion, comprising the following steps:
如图2所示，将三个激光测距仪的发射器分别记作A、B、C，将三个激光测距仪对应的光斑特征点分别记作A1、B1、C1；As shown in Figure 2, the emitters of the three laser range finders are respectively marked as A, B, and C, and the feature points of the light spots corresponding to the three laser range finders are respectively marked as A 1 , B 1 , and C 1 ;
首先，建立姿态测量所必需的坐标系，建立与测量基准平面固连的参考坐标系W，其Oxy平面与测量基准平面重合，Oz轴与测量基准平面垂直，类似地，建立与待测目标上表面固连的物体坐标系T，其Oxy平面与待测目标上表面重合，Oz轴与待测目标上表面垂直；First, establish the coordinate system necessary for attitude measurement, establish a reference coordinate system W fixed to the measurement reference plane, whose Oxy plane coincides with the measurement reference plane, and the Oz axis is perpendicular to the measurement reference plane. The object coordinate system T whose surface is fixed, its Oxy plane coincides with the upper surface of the target to be measured, and the Oz axis is perpendicular to the upper surface of the target to be measured;
之后，三个激光测距仪开始测量自身到测量基准平面之间的距离，分别记作hA、hB、hC，得到距离的测量值之后，将其上传至云端姿态解算算法的入口处，通过空间矢量运算计算得到待测目标的姿态；After that, the three laser rangefinders start to measure the distance between themselves and the measurement reference plane, which are recorded as h A , h B , and h C respectively. After obtaining the measured distance values, upload them to the entrance of the cloud attitude calculation algorithm At , the attitude of the target to be measured is obtained by calculating the space vector calculation;
在云端完成姿态解算之后，根据其他模块对姿态测量结果的请求指令，将姿态测量结果通过无线网络分发给其他模块。After the attitude calculation is completed in the cloud, the attitude measurement results are distributed to other modules through the wireless network according to the request instructions of other modules for the attitude measurement results.
具体的姿态解算过程如下：The specific attitude calculation process is as follows:
根据三个激光测距仪的安装位置，可以得到点A、B、C在物体坐标系下的坐标，分别记作PA、PB、PC；According to the installation positions of the three laser rangefinders, the coordinates of points A, B, and C in the object coordinate system can be obtained, which are denoted as P A , P B , and P C respectively;
由于三个激光测距仪均垂直于待测目标的上表面安装，可以得到激光测距仪发射的激光束与物体坐标系的Oz轴平行，因此，点A、B、C与点A1、B1、C1之间仅有z轴坐标不同，且该坐标值恰好为对应的激光测距仪的测量值，可以得到点A1、B1、C1在物体坐标系下的坐标，分别记作PA′、PB′、PC′；Since the three laser range finders are all installed perpendicular to the upper surface of the target to be measured, it can be obtained that the laser beam emitted by the laser range finder is parallel to the Oz axis of the object coordinate system. Therefore, points A, B, C and points A 1 , Only the coordinates of the z-axis are different between B 1 and C 1 , and this coordinate value is exactly the measurement value of the corresponding laser range finder. The coordinates of points A 1 , B 1 , and C 1 in the object coordinate system can be obtained, respectively Denote as P A ′, P B ′, P C ′;
接下来，根据点A、B、C在物体坐标系下的坐标PA、PB、PC以及点A1、B1、C1在物体坐标系下的坐标PA′、PB′、PC′求取参考坐标系W相对于物体坐标系T的旋转矩阵；Next, according to the coordinates P A , P B , P C of points A , B, C in the object coordinate system and the coordinates P A ′, P B ′, P B ′, P C ′ Calculate the rotation matrix of the reference coordinate system W relative to the object coordinate system T;
在平面A1B1C1内，找到两个空间矢量其坐标分别为In the plane A 1 B 1 C 1 , find the two space vectors Its coordinates are
可求得平面A1B1C1在物体坐标T下的法向量 The normal vector of the plane A 1 B 1 C 1 at the object coordinate T can be obtained
以及平面A1B1C1的法向量 and the normal vector of the plane A 1 B 1 C 1
由此，可求得参考坐标系W相对于物体坐标系T的旋转轴和旋转角度θ；Thus, the rotation axis of the reference coordinate system W relative to the object coordinate system T can be obtained and rotation angle θ;
根据轴角对和旋转四元数之间的变换关系，可求得参考坐标系W相对于物体坐标系T的旋转四元数qAccording to the transformation relationship between the axis-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
其中，nx、ny和nz分别为旋转轴的3个分量，q0、q1、q2和q3分别为旋转四元数q的4个分量。Among them, n x , n y and n z are the rotation axes The three components of q 0 , q 1 , q 2 and q 3 are the four components of the rotation quaternion q.
根据旋转四元数和旋转矩阵之间的变换关系，可求得参考坐标系W相对于物体坐标系T的旋转矩阵 According to the transformation relationship 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
最后，根据参考坐标系W相对于物体坐标系T的旋转矩阵可求得物体坐标系T相对于参考坐标系W的旋转矩阵 Finally, according to the rotation matrix of the reference coordinate system W relative to the object coordinate system T The rotation matrix of the object coordinate system T relative to the reference coordinate system W can be obtained
物体坐标系T相对于参考坐标系W的旋转矩阵即为测得的姿态信息。The rotation matrix of the object coordinate system T relative to the reference coordinate system W is the measured attitude information.
以上所述，仅为本发明较佳的具体实施方式，这些具体实施方式都是基于本发明整体构思下的不同实现方式，而且本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。The above are only preferred specific implementations of the present invention. These specific implementations are all based on different implementations under the overall concept of the present invention, and the scope of protection of the present invention is not limited thereto. Anyone familiar with the technical field Within the technical scope disclosed in the present invention, any changes or substitutions that can be easily conceived by a skilled person shall fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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