CN113048938B - Cooperative target design and attitude angle measurement system and method - Google Patents
Cooperative target design and attitude angle measurement system and method Download PDFInfo
- Publication number
- CN113048938B CN113048938B CN202110239185.1A CN202110239185A CN113048938B CN 113048938 B CN113048938 B CN 113048938B CN 202110239185 A CN202110239185 A CN 202110239185A CN 113048938 B CN113048938 B CN 113048938B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- target
- cooperative target
- attitude angle
- acquiring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 81
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000013461 design Methods 0.000 title claims abstract description 24
- 239000013598 vector Substances 0.000 claims abstract description 103
- 238000005096 rolling process Methods 0.000 claims abstract description 28
- 238000004364 calculation method Methods 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000009466 transformation Effects 0.000 claims description 6
- 238000010606 normalization Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 3
- 239000011159 matrix material Substances 0.000 description 17
- 238000004422 calculation algorithm Methods 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 241000350052 Daniellia ogea Species 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000003892 spreading Methods 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the invention provides a cooperative target design and a corresponding attitude angle measurement system and method, wherein the cooperative target adopts a three-dimensional design and comprises the following steps: sixteen feature points with different heights, a pyramid prism with a notch, a two-dimensional PSD and a matching circuit; the attitude angle measurement system includes: the system comprises a cooperative target, a monocular vision measuring unit, a laser tracking measuring unit and a calculating unit; in the attitude angle measuring process, the cooperative target is fixed on a measured object, and the monocular vision measuring unit and the laser tracking measuring unit are respectively fixed at preset positions. Firstly, a rolling angle of a cooperative target is obtained through measuring by a monocular vision measuring unit, secondly, a light spot coordinate is obtained according to measuring of a two-dimensional PSD in the cooperative target, and then, an attitude angle of the cooperative target is obtained through calculation according to uniqueness of a laser beam space vector. The cooperation target designed by the invention overcomes the problems that specific characteristic points need to be identified, the characteristic points need to be coplanar and the like in the prior art; the adoption of the cooperative target can improve the attitude measurement capability of the system within the range of 10-30 m.
Description
Technical Field
The invention relates to the technical field of precision measurement, in particular to a cooperative target design and attitude angle measurement system and method.
Background
Modern industry, especially large-scale equipment manufacturing industry, is developing towards informatization and intellectualization, and high-precision design, manufacture and detection are the key points for ensuring product quality. The attitude measurement is widely applied to large-scale engineering construction and high-precision equipment manufacturing, and has important significance for improving the manufacturing efficiency and the manufacturing precision.
At present, attitude measurement based on a laser tracking target method is widely applied to aspects of large-size assembly, production line detection, robot measurement and calibration and the like. The laser tracking three-dimensional attitude measurement in foreign countries is mature mainly as follows: leica, API, FARO, whose measurement principles and collaborative target designs vary from one company to another. Leica corporation completes attitude angle measurement by matching a high-speed camera with a plurality of light-emitting units on a cooperative target; the API measures an attitude angle with a level sensor through two encoders on a cooperative target; the FARO measures the attitude angle through the combination of the articulated arm and the encoder; a monocular vision automatic attitude measurement method is provided for a Zhang-Hui-Juan of national university of Hubei industry, and the target adopts a stereo design to complete attitude calculation by combining a reflective mark on a camera measurement target with a monocular attitude and pose algorithm; yan Kun of the university of Hubei industry combines a photoelectric position sensor and monocular vision, obtains a rolling angle of a cooperative target based on a longitudinal projection ratio of a specific target point, obtains an attitude angle through a conversion relation between coordinate systems, and obtains the attitude angle by identifying three points on a circumference to complete rolling angle calculation and combining the coordinate system conversion relation for planar design.
In conclusion, the cooperative targets in the current stage are mainly divided into a plane cooperative target and a stereo cooperative target, the plane cooperative target needs to identify specific feature points to complete attitude calculation, and an attitude angle cannot be calculated under the condition that the specific feature points cannot be identified; the stereo cooperative target does not need to identify specific characteristic points, but the number and the layout of the characteristic points of the current stereo cooperative target are relatively fixed and cannot be selected according to a field measurement environment, and the attitude measurement precision is linearly reduced along with the increase of the distance only by using monocular vision measurement, so that the actual engineering requirements cannot be met.
Disclosure of Invention
Embodiments of the present invention provide a cooperative target design and attitude angle measurement system and method that overcomes, or at least partially solves, the above-mentioned problems.
On one hand, the embodiment of the invention provides a cooperative target design and attitude angle measurement system and a method, which are characterized by comprising the following steps: the system comprises a cooperative target, a monocular vision measuring unit, a laser tracking measuring unit and a calculating unit; wherein,
the cooperative target is fixedly arranged on a measured object, and the monocular vision measuring unit and the laser tracking measuring unit are respectively and fixedly arranged at preset positions;
the cooperative target comprises a two-dimensional PSD module, a pyramid prism and 16 characteristic target points;
the two-dimensional PSD module comprises a two-dimensional PSD and a data processing sub-module, wherein a light transmitting surface of a pyramid prism is parallel to a light sensing surface of the two-dimensional PSD, a vertex of the pyramid prism and the light sensing surface of the two-dimensional PSD are arranged at a preset distance, a light transmitting hole is formed in the vertex of the pyramid prism, a laser beam emitted by the laser tracking and measuring unit passes through the light transmitting surface of the pyramid prism and then is shot on the light sensing surface of the two-dimensional PSD through the light transmitting hole to form a light spot, a coordinate system xoy direction formed by target points corresponding to 16 feature targets is parallel to the light sensing surface of the two-dimensional PSD, the 16 feature target points are divided into a first feature target point, a second feature target point and a third feature target point from top to bottom from left to right from a horizontal view of a cooperative target, the first feature target point, the fourth feature target point, the thirteenth feature target point and the sixteenth feature target point are respectively arranged at four corners of a rectangle, the first feature target point, the second feature target point, the thirteenth feature target point, the sixteenth feature target point and the sixteenth feature target point are arranged at two sides of the rectangle, and the same interval is equal to the sixteenth feature target point. The fifth, sixth, seventh and eighth characteristic target points and the ninth, tenth, eleventh and twelfth characteristic target points are positioned on the middle protruding platform of the target and are distributed at equal intervals, and the detachable design is adopted so as to adjust the height distribution of the characteristic points of the target;
the data processing submodule is used for acquiring the coordinates of the light spot in a first coordinate system; wherein the first coordinate system is a two-dimensional coordinate system on the light sensing surface;
the monocular vision measuring unit is used for acquiring the rolling angle of the cooperation target in a second coordinate system according to the positions of the sixteen characteristic target points in the second coordinate system; the origin of the second coordinate system is a three-dimensional coordinate system coincident with the vertex of the corner cube prism, the Z axis of the second coordinate system passes through the origin of the first coordinate system, and the Z axis of the second coordinate system is perpendicular to the photosensitive surface of the two-dimensional PSD;
the laser tracking measurement unit is used for acquiring the coordinates of the vertex of the pyramid prism in a third coordinate system; the third coordinate system is a measurement coordinate system of the laser tracking measurement unit;
the calculation unit is used for acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance; acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system; and acquiring the attitude angle of the cooperative target in the fourth coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
Further, the laser tracking measurement unit is a laser tracker or a total station, and the camera in the monocular vision measurement unit is a CCD camera.
Further, a circular diaphragm is arranged on one side, close to the two-dimensional PSD, of the light hole.
Furthermore, an optical filter is arranged on the two-dimensional PSD light-sensitive surface.
Further, each of the sixteen feature target points is made of a highly reflective material or an infrared LED.
Furthermore, the cooperation target is designed in a three-dimensional mode, the sixteen feature target points are designed in a detachable mode, and the height of the cooperation target points can be flexibly set.
In another aspect, an embodiment of the present invention provides a method for performing attitude angle measurement by using the above-mentioned cooperative target, including:
fixedly arranging the cooperative target on a measured object, and fixedly arranging the monocular vision measuring unit and the laser tracking measuring unit at preset positions respectively;
acquiring coordinates of the light spots in a first coordinate system by using the data processing sub-module, and acquiring rolling angles of the cooperative targets in a second coordinate system by using the monocular vision measuring unit through positions of the sixteen characteristic target points in the second coordinate system;
acquiring the coordinate of the vertex of the pyramid prism in a third coordinate system by using the laser tracking measurement unit;
acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance;
acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system;
and acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
Further, the acquiring, by the monocular vision measuring unit, the roll angle of the cooperative target in the second coordinate system through the sixteen feature target points specifically includes:
before attitude angle measurement is carried out, acquiring first images of the sixteen feature targets of the cooperative target in a horizontal state by using a camera of the monocular vision unit; during measurement, acquiring second images of the sixteen feature targets by using a camera of the monocular vision unit; calculating the pose of the cooperative target in the second coordinate system according to the second image and the coordinates of the sixteen characteristic targets in the second coordinate system, and acquiring the rolling angle of the cooperative target in the second coordinate system according to the first image;
and calculating the rolling angle by using a combined attitude calculation algorithm, wherein the specific calculation steps are as follows:
and matching the target feature points in the second image with the coordinates of the target feature points in the second coordinate system one by one through initial value matching. Assuming that the coordinates of each feature point in the target in the second coordinate system are { P } i T I =1, 2.. N }, and the coordinates in the fourth coordinate system are { P } i C I =1,2,. N }, the fourth coordinate system being a camera coordinate system; for any point in any coordinate system, four control points can be used for representing, and the coordinate of the control point in the second coordinate system is
In the same way, the coordinates in the fourth coordinate system are
Then there is
Wherein alpha is ij Is a weight coefficient, and satisfies
The position of the control point is not required, and the first control point selects the center of gravity of the reference point for uniform calculation.
Obtaining a matrix by using the centroid
Is an n × 3 matrix, for the matrix A T SVD decomposition is carried out on A to obtain A T A＝U∑U -1 The remaining 3 control points are denoted as
Wherein
And v c,j-1 Is the eigenvalue and eigenvector corresponding to U.
Let B be the camera internal reference matrix, obtained by calibration, { u } i } i＝1,...,n Is { p i } i＝1,...,i Projected point, w i Is a projection scale coefficient, a control point
Has the coordinates of
Projection point u i The coordinate is [ u ] i ,v i ] T Then there is
Will be provided with
The carrying in and the spreading out are two items
Writing the above equation in a matrix form, when there are N reference points, there are 2N equations, which are written as Mx =0, m is 2N × 12, x is 12 × 1, there are
v i Is M T M zero eigenvalue corresponding eigenvector, beta i Is a coefficient, N is M T The number of null space elements of M, N =1 when the focal length is small, and only x = β v at this time, the following equation is obtained by using the distance retention property of the euclidean space.
Calculating beta value and x value to obtain coordinates of four control points in the camera coordinate system, calculating coordinates of reference points in the camera coordinate system by the control point coefficients, and further calculating rotation matrix R = [ R ] 1 R 2 R 3 ] T And translation vector T = (T) x ,T y ,T z )。
The obtained initial pose is brought into an iterative pose solving algorithm, and the specific steps are as follows
Assuming that the coordinates of each feature point in the target in the second coordinate system are { P } i T I =1, 2.. N }, and the coordinates in the fourth coordinate system are { P } i C I =1, 2.. N }, initialization parameters, assignment matrix relaxation elements γ = 1/(max { J, K } + 1), β =4 × 10 -4 ，s＝f/T z ，M＝s(R 1 ,T x )，N＝s(R 2 ,T y )，w k ＝1。
(1) Calculating square distance
(2) Updating weight assignment matrices by row normalization
(3) And (4) judging whether the delta M is smaller than a preset value or not, and returning to the step (2) if the delta M is smaller than the preset value.
(4)
Calculating L -1 。
(5) The matrices M and N are updated.
s＝|(M 1 ,M 2 ,M 3 )|，R 1 ＝(M 1 ,M 2 ,M 3 )/s，R 2 ＝(N 1 ,N 2 ,N 3 )/s，R 3 ＝R 1 ×R 2 Update w k ，β，w k ＝R 3 ·P 0 P k /T z +1,β＝β update β(β update About 1.05).
(6) Judging beta > beta final (β final Taking 0.5), otherwise, returning to the step (1).
(7) Output rotation matrix R = [ R = 1 R 2 R 3 ] T ，T＝(T x ,T y ,T z ) And the allocation matrix M | = { M |) jk }。
And obtaining the rolling angle of the cooperation target in the second coordinate system by the method.
Further, the obtaining the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance specifically includes:
and respectively taking the abscissa and the ordinate of the light spot in the first coordinate system as the abscissa and the ordinate of the light spot in the second coordinate system, and taking the preset distance as the Z-axis coordinate of the light spot, so as to obtain the coordinate of the light spot in the second coordinate system.
Specifically, since the Z axis of the second coordinate system passes through the origin of the first coordinate system and is perpendicular to the photosensitive surface of the two-dimensional PSD, the abscissa and ordinate of the light spot in the first coordinate system are the same as those in the second coordinate system. Meanwhile, the vertex of the pyramid prism and the photosensitive surface of the two-dimensional PSD are arranged at a preset distance, so that the Z-axis coordinate value of the light spot can be known to be equal to the preset distance.
The preset distance may be determined according to an angle epsilon of the movement of the measured object relative to the third coordinate system, and the specific calculation formula is as follows:
wherein h is a preset distance, and L is the side length of the two-dimensional PSD photosurface.
Further, the obtaining a first spatial vector corresponding to the laser beam in a third coordinate system according to a coordinate of a vertex of the corner cube in the third coordinate system, and obtaining a second spatial vector corresponding to the laser beam in the second coordinate system according to a coordinate of the light spot in the second coordinate system specifically include:
taking the origin of the third coordinate system as a starting point and the vertex of the corner cube prism as an end point, and acquiring the first space vector; and taking the origin of the second coordinate system as a starting point and the light spot as an end point to acquire the second space vector.
Specifically, the coordinate value of the first space vector may be calculated according to the coordinate value of the origin of the third coordinate system and the coordinate value of the vertex of the corner cube in the third coordinate system. Similarly, the coordinate value of the second space vector may be calculated according to the origin of the second coordinate system and the coordinate value of the light spot in the second coordinate system.
Further, the obtaining an attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and a rolling angle of the cooperative target in the second coordinate system specifically includes:
respectively carrying out normalization processing on the first space vector and the second space vector to obtain a first unit vector and a second unit vector;
and acquiring an attitude angle of the second coordinate system relative to the third coordinate system according to an Euler transformation formula between the first unit vector and the second unit vector and a rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the cooperative target in the third coordinate system.
Specifically, a first space vector O is obtained according to actual measurement conditions 3 O 2 A second space vector O 2 P, then normalization processing is carried out to obtain a first unit vector
Second unit vector
When euler transform is performed on the first unit vector and the second unit vector, a specific calculation formula is as follows:
R r ＝R(x,σ)R(y,τ)R(z,ω)
wherein, sigma, tau and omega represent that the second coordinate system rotates a sigma angle around the self X axis, the rotated coordinate system rotates a tau angle around the self Y axis, and the rotated coordinate system rotates around the self Z axisRotating by an angle omega; r r A right-multiplied rotation matrix transformed by the second coordinate system relative to the third coordinate system; r r T Is R r The transposed matrix of (2);
a left-hand rotation matrix transformed by the second coordinate system relative to the third coordinate system;
when the attitude angles α, β, γ in the third coordinate system are calculated, a specific calculation formula is as follows:
and finally obtaining attitude angles alpha, beta and gamma of the cooperative target in the third coordinate system.
The embodiment of the invention provides a cooperative target design and a corresponding attitude angle measurement system and method, wherein the cooperative target adopts a three-dimensional design and comprises the following steps: sixteen feature points with different heights, a pyramid prism with a notch, a two-dimensional PSD and a matching circuit; the attitude angle measurement system includes: the system comprises a cooperative target, a monocular vision measuring unit, a laser tracking measuring unit and a calculating unit; in the attitude angle measuring process, the cooperative target is fixedly arranged on a measured object, and the monocular vision measuring unit and the laser tracking measuring unit are respectively and fixedly arranged at preset positions; and acquiring a rolling angle of the measured cooperative target in a second coordinate system through a monocular vision measuring unit, acquiring a three-dimensional coordinate of the light spot in the second coordinate system according to a two-dimensional coordinate of the light spot obtained by measuring the two-dimensional PSD through the structural design of the cooperative target, and calculating an attitude angle of the cooperative target relative to a fourth coordinate system corresponding to the three-dimensional measuring system according to the identity of a space vector corresponding to the laser beam to obtain the attitude angle of the measured object. Compared with the cooperative target in the existing attitude measurement, the layout and the height of the feature points can be adjusted according to the needs, the problems that specific feature points need to be identified and the feature points need to be coplanar and the like are solved, and different distance measurements can be adapted through replaceable feature points; the use of a two-dimensional PSD can improve attitude measurement capability over a long distance range of 10-30 m.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a cooperative target attitude angle measurement system according to an embodiment of the present invention;
FIG. 2 is a front view of a collaboration target provided by an embodiment of the present invention;
FIG. 3 is a side view of a collaboration target provided by an embodiment of the present invention;
FIG. 4 isbase:Sub>A sectional view taken along line A-A of the cooperative target shown in FIG. 3;
FIG. 5 is a top view of a collaboration target provided by embodiments of the present invention;
FIG. 6 is a cross-sectional view taken along line B-B of the cooperative target shown in FIG. 5;
fig. 7 is a flowchart of a method for performing attitude angle measurement by using the cooperative target attitude angle measurement system according to an embodiment of the present invention.
FIG. 8 is a pictorial view of a laser tracking device and a monocular vision unit in the attitude measurement system shown in FIG. 1;
FIG. 9 is a pictorial front and side view of the cooperative target shown in FIG. 1;
FIG. 10 is a cooperative target image captured by a monocular vision unit;
fig. 11 is a comparison diagram of simulation results of the attitude measurement algorithm and the monocular vision automatic measurement provided in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural diagram of a cooperative target attitude angle measurement system according to an embodiment of the present invention, as shown in fig. 1, including: the system comprises a cooperative target 1, a monocular vision measuring unit 2, a laser tracking measuring unit 3 and a calculating unit; wherein,
the cooperative target 1 is fixedly arranged on a measured object, and the monocular vision measuring unit 2 and the laser tracking measuring unit 3 are respectively and fixedly arranged at preset positions;
as shown in fig. 2, 4 and 6, the cooperative target 1 includes a two-dimensional PSD module 11, a corner cube 12, sixteen feature target points 13; the two-dimensional PSD module 11 comprises a two-dimensional PSD and a data processing sub-module, wherein a light transmission surface of the pyramid prism 12 is parallel to a light sensing surface of the two-dimensional PSD, a preset distance is reserved between a vertex of the pyramid prism 12 and the light sensing surface of the two-dimensional PSD, a light transmission hole is formed in the vertex of the pyramid prism 12, a laser beam emitted by the laser tracking and measuring unit 3 passes through the light transmission surface of the pyramid prism 12 and then is shot on the light sensing surface of the two-dimensional PSD through the light transmission hole to form a light spot, the sixteen feature target points are divided into a first feature target point, a second feature target point, a third feature target point, a.
The cooperative target 1 is fixedly arranged on a measured object and moves along with the measured object, and the attitude angle of the cooperative target is the attitude angle of the measured object. The monocular vision measuring unit 2 and the laser tracking measuring unit 3 are fixedly arranged at preset positions during measurement, and the preset positions can be set according to actual requirements without limitation.
As shown in fig. 2, the first feature target, the second feature target, the third feature target, and the.. Sixteenth feature target correspond to F1, F2, F3, and the.. F16, respectively, where F1, F2, F3, and F4 are disposed on the left platform of the cooperative target at equal intervals, F13, F14, F15, and F16 are disposed on the right platform of the cooperative target at equal intervals, and F5, F6, F7, F8, F9, F10, F11, and F12 are disposed on the middle platform of the cooperative target at equal intervals, respectively, and the intervals are determined according to the external dimensions of the actual cooperative target, which is not limited herein. The heights of the feature points F5, F8, F9 and F12 are greater than those of the rest feature points, and the specific heights are determined according to the external dimension of the cooperative target.
Specifically, during measurement, the laser tracking measurement unit 3 emits a laser beam to the cooperative target 1, the laser beam passes through the light transmission surface of the corner cube 12, then part of the laser beam returns along the original path at the vertex of the corner cube 12, and part of the laser beam passes through the light transmission hole at the vertex and is projected on the photosensitive surface of the two-dimensional PSD to form a light spot. Meanwhile, the camera of the monocular vision measuring unit 2 may perform image acquisition on sixteen feature targets 13.
The data processing submodule is used for acquiring the coordinates of the light spot in a first coordinate system; wherein the first coordinate system is a two-dimensional coordinate system on the light sensing surface;
the monocular vision measuring unit is used for acquiring the rolling angle of the cooperative target in a second coordinate system through the sixteen characteristic targets and the corresponding second coordinate system; the second coordinate system is a three-dimensional coordinate system with an origin coincident with the vertex of the corner cube prism, and the Z axis of the second coordinate system passes through the origin of the first coordinate system;
the laser tracking measurement unit is used for acquiring the coordinate of the vertex of the pyramid prism in a third coordinate system; the third coordinate system is a measurement coordinate system of the laser tracking measurement unit;
the calculating unit is used for acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance; acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system; and acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
The first coordinate system can be understood as an internal coordinate system of the two-dimensional PSD photosensitive surface, and the coordinates of the light spot on the first coordinate system can be directly read through the data processing submodule. The second coordinate system can be understood as a coordinate system corresponding to the cooperative target, and when the cooperative target moves (i.e. the measured object moves), the second coordinate system also moves correspondingly along with the cooperative target, so that the attitude angle of the second coordinate system relative to the third coordinate system is the attitude angle of the cooperative target in the third coordinate system. The space vector corresponding to the laser beam emitted by the laser tracking measuring unit 3 can be represented by a point in the third coordinate system, and can also be represented by a point in the second coordinate system, that is, the first space vector and the second space vector, the normalized unit vectors of the first space vector and the second space vector are different expression forms of the same vector, and according to the relationship, when the transformation relationship between the first space vector and the second space vector is obtained, the attitude angle of the second coordinate system relative to the third coordinate system can be obtained, and further the attitude angle of the cooperative target in the third coordinate system can be obtained.
Specifically, the coordinates of the light spot in a second coordinate system are obtained according to the coordinates of the light spot in a first coordinate system and a preset distance; acquiring a first space vector corresponding to the laser beam in the third coordinate system according to the coordinate of the vertex of the pyramid prism in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system; and acquiring the attitude angle of the cooperative target in a third coordinate system according to the first space vector, the second space vector and the attitude angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
The embodiment of the invention provides a cooperative target and attitude angle measuring system and method, by designing the structure of the cooperative target, the three-dimensional coordinates of a light spot in a second coordinate system can be accurately obtained according to the two-dimensional coordinates of the light spot obtained by two-dimensional PSD measurement, the attitude angle of the cooperative target relative to a fourth coordinate system corresponding to a three-dimensional measuring system is calculated and obtained according to the identity of a space vector corresponding to a laser beam and the roll angle of the cooperative target in the second coordinate system obtained by measuring through a monocular vision measuring unit, and the attitude angle of a measured object is obtained.
In the above embodiment, the laser tracking measurement unit is a laser tracker or a total station, and the camera in the monocular vision measurement unit is a CCD camera.
Specifically, the laser tracking measurement unit is a laser tracker or a total station, and can be selected according to the precision requirement during actual measurement.
In the above embodiment, a circular diaphragm is disposed on one side of the light-transmitting hole close to the two-dimensional PSD.
Specifically, the diffraction phenomenon can be weakened by arranging a circular diaphragm on one side of the light-transmitting hole close to the two-dimensional PSD.
In the above embodiment, a filter is disposed on the two-dimensional PSD light sensing surface.
Specifically, the filter is arranged on the two-dimensional PSD photosensitive surface, so that interference of natural light on data stability can be reduced.
In the above embodiment, the sixteen feature targets are made of a strong reflective material or an infrared LED.
Fig. 7 is a flowchart of a method for performing attitude angle measurement by using the laser tracking attitude angle measurement system according to an embodiment of the present invention, and as shown in fig. 7, the method includes:
s701, fixedly arranging the cooperative target on a measured object, and fixedly arranging the monocular vision measuring unit and the laser tracking measuring unit at preset positions respectively;
s702, acquiring coordinates of the light spot in a first coordinate system by using the data processing submodule, acquiring a rolling angle of the cooperative target in a second coordinate system by using the monocular vision measuring unit through the sixteen feature targets, and acquiring coordinates of a vertex of the pyramid prism in a third coordinate system by using the laser tracking measuring unit;
s703, acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance;
s704, acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system;
s705, acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, and obtaining the attitude angle of the measured object.
In step S701, the cooperative target is fixedly disposed on the object to be measured and moves together with the object to be measured, and the attitude angle of the cooperative target is the attitude angle of the object to be measured. The monocular vision measuring unit and the laser tracking measuring unit are fixedly arranged at preset positions during measurement, and the preset positions can be set according to actual requirements without limitation.
In steps S702 to S705, the first coordinate system may be understood as an internal coordinate system of the two-dimensional PSD light-sensing surface, and the coordinates of the light spot thereon in the first coordinate system may be directly read by the data processing sub-module. The second coordinate system can be understood as a coordinate system corresponding to the cooperative target, and when the second coordinate system moves (i.e. the measured object moves), the second coordinate system also moves correspondingly along with the cooperative target, so that the attitude angle of the second coordinate system relative to the third coordinate system is the attitude angle of the cooperative target in the fourth coordinate system. The space vector corresponding to the laser beam emitted by the laser tracking measurement unit can be represented by a point in a third coordinate system, and can also be represented by a point in a second coordinate system, namely a first space vector and a second space vector, the normalized unit vectors of the first space vector and the second space vector are different expression forms of the same vector, and according to the relation, when the transformation relation between the first space vector and the second space vector is obtained, the attitude angle of the second coordinate system relative to the third coordinate system can be obtained, and further the attitude angle of the cooperative target in the third coordinate system can be obtained.
A cooperative target attitude angle measurement system, as shown in fig. 1, comprising: the system comprises a cooperative target, a monocular vision measuring unit, a laser tracking measuring unit and a calculating unit; wherein,
the monocular vision measuring unit and the laser tracking measuring unit are respectively and fixedly arranged at preset positions;
the cooperation target object is shown in fig. 9 and comprises a two-dimensional PSD module, a pyramid prism and sixteen feature target points; the two-dimensional PSD module comprises a two-dimensional PSD and a data processing sub-module, wherein a light transmission surface of a pyramid prism is parallel to a light sensing surface of the two-dimensional PSD, the distance between the vertex of the pyramid prism and the light sensing surface of the two-dimensional PSD is preset, the preset distance is set to be 6mm in the embodiment, a light transmission hole is formed in the vertex of the pyramid prism, a laser beam emitted by the laser tracking and measuring unit passes through the light transmission surface of the pyramid prism and then is punched on the light sensing surface of the two-dimensional PSD through the light transmission hole to form a light spot, and the direction of a coordinate system xoy formed by target points corresponding to sixteen characteristic targets is parallel to the light sensing surface of the two-dimensional PSD, the sixteen feature target points are divided into a first feature target point, a second feature target point and a third feature target point from top to bottom and from left to right from a horizontal view of the cooperative target, wherein the first feature target point, the second feature target point and the third feature target point are distributed in a 4 x 4 mode from top to bottom till the sixteenth feature target point, the first feature target point, the fourth feature target point, the thirteenth feature target point and the sixteenth feature target point are respectively arranged at four corners of a rectangle, and the first feature target point, the second feature target point, the third feature target point, the fourth feature target point, the thirteenth feature target point, the fourteenth feature target point, the fifteenth feature target point and the sixteenth feature target point are arranged on two sides and are located on the same plane and distributed at equal intervals. The fifth, sixth, seventh and eighth characteristic target points and the ninth, tenth, eleventh and twelfth characteristic target points are positioned on the middle protruding platform of the target and are distributed at equal intervals, and the detachable design is adopted so as to adjust the height distribution of the characteristic points of the target; the cooperative target integrated machining part is divided into a shell, an internal supporting part, a fixing part and a characteristic point position. The material is 6160 aluminum alloy, and the surface is subjected to anodic oxidation blackening treatment.
The casing adopts detachable design, conveniently changes in order to adapt to the pyramid prism of equidimension not. The shell is formed by assembling eight plates, and consists of a front panel, two side panels, two inclined plane plates, two fixing strips and a rear cover respectively, and the two connected plates are fixed by screws. The positions of the sixteen feature points are known in a second coordinate system, wherein the second coordinate system is a three-dimensional coordinate system with an origin coinciding with the vertex of the pyramid prism, the Z axis of the second coordinate system passes through the origin of the first coordinate system, and the Z axis of the second coordinate system is perpendicular to the photosensitive surface of the two-dimensional PSD. In this example, the coordinates of the sixteen feature points in the second coordinate system are
Six total reflection prisms are located on both sides of the target for calibration of the laser tracking measuring unit, in this example, the position coordinate under the second coordinate system is
The data processing submodule is used for acquiring the coordinates of the light spots in a first coordinate system; wherein, the first coordinate system is a two-dimensional coordinate system on the light sensing surface;
the monocular vision measuring unit is used for acquiring a rolling angle of the cooperative target in a second coordinate system through the positions of the sixteen characteristic target points in the second coordinate system; the origin of the second coordinate system is a three-dimensional coordinate system coincident with the vertex of the corner cube prism, the Z axis of the second coordinate system passes through the origin of the first coordinate system, and the Z axis of the second coordinate system is perpendicular to the photosensitive surface of the two-dimensional PSD; in this example, the monocular vision measurement unit selected is Basler acA2500-20gm, the resolution is 2590 x 2048, the pixel size is 4.8 x 4.8um, and the focal length of the lens is 12mm, as shown in fig. 8;
the laser tracking measurement unit is used for acquiring the coordinate of the vertex of the pyramid prism in a third coordinate system; the third coordinate system is a measuring coordinate system of the laser tracking measuring unit; in this example, the laser tracking measuring unit is a total station Leica (TM) 50, which has an automatic collimation function, and can measure the coordinates of the vertex of the pyramid prism in the fourth coordinate system in real time, as shown in fig. 8.
The calculating unit is used for acquiring the coordinates of the light spots in the second coordinate system according to the coordinates of the light spots in the first coordinate system and the preset distance; acquiring a first space vector corresponding to the laser beam in the third coordinate system according to the coordinate of the vertex of the pyramid prism in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system; and acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the third coordinate system, so as to obtain the attitude angle of the measured object. In this embodiment, the calculation unit is a computer, and the calculation is completed by software.
The measuring step is that the cooperative target is fixed on the measured object, and the total station and the industrial CCD are fixed at the preset position. In the embodiment, the measurement distance is 10m, six total reflection prisms on a working target are collimated by a total station instrument, and the coordinates of the six total reflection prisms are obtained under a third coordinate system
The vertex of the pyramid prism has coordinates (120.1, 230.0, 10000.2) (unit: mm) under a third coordinate system, the coordinates (-0.905, 1.752) (unit: mm) of the light spot under the first coordinate system are obtained through the two-dimensional PSD, and the coordinates (-0.905, 1.752, 6) (unit: mm) of the light spot under the second coordinate system are obtained by combining the preset distance of the pyramid prism and the two-dimensional PSD of 6 mm. The industrial CCD photographs 16 infrared feature points on the cooperative target to obtain a characteristic picture of the cooperative target, as shown in fig. 10, in the process, the loss of the feature points may occur due to the position of the cooperative target, but the attitude calculation is not affected as long as the number of the feature points is greater than four. And obtaining the pixel coordinates of the feature points through the picture, and matching the pixel coordinates with the cooperation target entity.
The coordinates and the coordinates of the feature points in the second coordinate system are brought into a combined attitude calculation algorithm, the camera internal parameters are obtained by external calibration, and the rolling of the cooperative target in the second coordinate system is obtained, wherein the specific calculation steps are as follows:
and matching the target feature points in the second image with the coordinates of the target feature points in the second coordinate system one by one through initial value matching. According to the coordinates of the same characteristic point in two different coordinate systems, the coordinates of the control point in the second coordinate system are obtained by substituting the point of the fourth coordinate system into the second coordinate system by using the expression of four control points and utilizing singular value decomposition, and the fourth coordinate system is a camera coordinate system; thereby obtaining an initial pose.
And substituting the obtained initial pose into an iterative pose calculation algorithm to calculate to obtain the pose of the cooperative target in a third coordinate system.
Obtaining a conversion matrix between a third coordinate system and a fourth coordinate system according to coordinates of six total reflection prisms of a cooperative target in the third coordinate system and coordinates of the feature point in the fourth coordinate system
And obtaining the rolling angle w =24.833 ° of the cooperative target in the second coordinate system through a conversion matrix between the third coordinate system and the fourth coordinate system and the posture of the cooperative target in the third coordinate system.
The coordinate value of the first space vector may be calculated according to the coordinate value of the origin of the third coordinate system and the coordinate value of the vertex of the corner cube in the third coordinate system. Similarly, the coordinate value of the second space vector can be calculated according to the origin of the second coordinate system and the coordinate value of the light spot in the second coordinate system.
Acquiring an attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and a rolling angle of the cooperative target in the second coordinate system, and specifically comprising:
respectively carrying out normalization processing on the first space vector and the second space vector to obtain a first unit vector and a second unit vector;
and acquiring the attitude angle of the second coordinate system relative to the third coordinate system according to an Euler transformation formula between the first unit vector and the second unit vector and the roll angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the cooperative target in the third coordinate system.
Specifically, a first space vector O is obtained according to actual measurement conditions 3 O 2 ＝[120.1 230.0 2200.1]Second space vector O 2 P＝[-0.452 2.120 6]Further normalized to obtain the first unit vector
Second unit vector
When the euler transformation is performed on the first unit vector and the second unit vector, the specific calculation formula is as follows:
R r ＝R(x,σ)R(y,τ)R(z,ω)
wherein, sigma, tau and omega represent that the second coordinate system rotates a sigma angle around the X axis of the second coordinate system, the rotated coordinate system rotates a tau angle around the Y axis of the second coordinate system, and the rotated coordinate system rotates a omega angle around the Z axis of the second coordinate system; r r A right-multiplied rotation matrix transformed by the second coordinate system relative to the third coordinate system; r r T Is R r The transposed matrix of (2);
a left-multiplication rotation matrix transformed by the second coordinate system relative to the third coordinate system;
when the attitude angles α, β, γ in the third coordinate system are calculated, the specific calculation formula is as follows:
finally, the attitude angle of the cooperation target in the third coordinate system is alpha =10.216 °, beta =14.875 °, and gamma =24.833 °.
The above section illustrates that the measurement of the attitude angle is successfully realized by adopting the cooperation target of the invention and combining the vision and PSD combined measurement algorithm. In addition, compared with the monocular vision attitude measurement method, the method of the invention greatly improves the attitude measurement precision under a long distance. FIG. 11 is a graph comparing attitude measurement errors in the 10-30m measurement range for the two methods. The measuring device is of the type shown in fig. 8 and described in the above embodiments. The attitude evaluation uses the root mean square error. It can be seen from the figure that the measurement error of the method of the present invention has little fluctuation with the increase of the distance, while the pure monocular vision method has a linear increasing trend, so the method of the present invention is more suitable for the attitude measurement in the range of 10-30 m.
Compared with the prior art, the method has the advantages that the layout and the height of the feature points can be flexibly set, so that the problems that specific feature points need to be identified, the feature points need to be coplanar and the like are solved; the replaceable characteristic points can adapt to different distance measurements; the use of a two-dimensional PSD improves attitude measurement capability over a long distance range of 10-30 m.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A cooperative target design and corresponding attitude angle measurement system, comprising: the system comprises a cooperative target, a monocular vision measuring unit, a laser tracking measuring unit and a calculating unit; wherein,
the cooperative target is fixedly arranged on a measured object, and the monocular vision measuring unit and the laser tracking measuring unit are respectively and fixedly arranged at preset positions;
the cooperative target comprises a two-dimensional PSD module, a pyramid prism and sixteen characteristic target points; the two-dimensional PSD module comprises a two-dimensional PSD and a data processing sub-module, wherein a light transmission surface of the pyramid prism is parallel to a light sensing surface of the two-dimensional PSD, a preset distance is reserved between the vertex of the pyramid prism and the light sensing surface of the two-dimensional PSD, a light transmission hole is formed in the vertex of the pyramid prism, a laser beam emitted by the laser tracking and measuring unit passes through the light transmission surface of the pyramid prism and then is shot on the light sensing surface of the two-dimensional PSD through the light transmission hole to form a light spot, a coordinate system xoy direction formed by target points corresponding to sixteen feature targets is parallel to the light sensing surface of the two-dimensional PSD, the sixteen feature targets are divided into a first feature target point, a second feature target point and a third feature target point from top to bottom from left to right from a horizontal view of a cooperative target, the first, second, third and fourth feature target points and the thirteenth, fourteenth, fifteenth and sixteenth feature target points are positioned on two sides, are positioned on the same plane and are distributed at equal intervals, the fifth, sixth, seventh and eighth feature target points and the ninth, tenth, eleventh and twelfth feature target points are positioned on a protruding platform in the middle of the target and are distributed at equal intervals, and a detachable design is adopted to adjust the height distribution of the feature points of the target;
the data processing submodule is used for acquiring the coordinates of the light spot in a first coordinate system; wherein the first coordinate system is a two-dimensional coordinate system on the light sensing surface;
the monocular vision measuring unit is used for acquiring the rolling angle of the cooperation target in a second coordinate system according to the positions of the sixteen characteristic target points in the second coordinate system; the origin of the second coordinate system is a three-dimensional coordinate system coincident with the vertex of the corner cube prism, the Z axis of the second coordinate system passes through the origin of the first coordinate system, and the Z axis of the second coordinate system is perpendicular to the photosensitive surface of the two-dimensional PSD;
the laser tracking measurement unit is used for acquiring the coordinates of the vertex of the pyramid prism in a third coordinate system; the third coordinate system is a measurement coordinate system of the laser tracking measurement unit;
the calculation unit is used for acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance; acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system; acquiring an attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and a rolling angle of the cooperative target in the second coordinate system, so as to obtain an attitude angle of the measured object;
the laser tracking and measuring unit is a laser tracker or a total station, and the camera in the monocular vision measuring unit is a CCD camera.
2. The cooperative target design and corresponding attitude angle measurement system as claimed in claim 1, wherein a circular diaphragm is disposed on a side of the light-transmissive hole near the two-dimensional PSD.
3. The cooperative target design and corresponding attitude angle measurement system as claimed in claim 1, wherein a filter is disposed on the two-dimensional PSD photosurface.
4. The cooperative target design and corresponding attitude angle measurement system as recited in claim 1, wherein each of the sixteen characteristic target points is made of a highly reflective material or an infrared LED.
5. The cooperative target design and corresponding attitude angle measurement system of claim 1, wherein the cooperative target is designed in a three-dimensional manner, the sixteen characteristic target points are designed in a detachable manner, and the height is flexibly set as required.
6. A method of attitude angle measurement using the cooperative target design of any of claims 1-5 and a corresponding attitude angle measurement system, comprising:
fixedly arranging the cooperative target on a measured object, and fixedly arranging the monocular vision measuring unit and the laser tracking measuring unit at preset positions respectively;
acquiring coordinates of the light spot in a first coordinate system by using the data processing sub-module, acquiring a rolling angle of the cooperative target in a second coordinate system by using the monocular vision measuring unit through positions of the sixteen feature target points in the second coordinate system, and acquiring coordinates of a vertex of the pyramid prism in a third coordinate system by using the laser tracking measuring unit;
acquiring the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance;
acquiring a first space vector corresponding to the laser beam in a third coordinate system according to the coordinate of the vertex of the corner cube in the third coordinate system, and acquiring a second space vector corresponding to the laser beam in the second coordinate system according to the coordinate of the light spot in the second coordinate system;
and acquiring the attitude angle of the cooperative target in the third coordinate system according to the first space vector, the second space vector and the rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the measured object.
7. The method according to claim 6, wherein the obtaining, by the monocular vision measuring unit, the roll angle of the cooperative target in the second coordinate system through the sixteen feature target points comprises:
when attitude angle measurement is carried out, acquiring images of the sixteen feature target points by utilizing a camera of the monocular vision unit;
matching first, second, third,. Sixteenth target feature points according to the image;
and according to the coordinates of the first, second, third and fourth target feature points in the second coordinate system, calculating the rolling angle of the cooperative target in the second coordinate system through the monocular vision pose.
8. The method according to claim 6, wherein the obtaining the coordinates of the light spot in the second coordinate system according to the coordinates of the light spot in the first coordinate system and the preset distance comprises:
and respectively taking the abscissa and the ordinate of the light spot in the first coordinate system as the abscissa and the ordinate of the light spot in the second coordinate system, and taking the preset distance as the Z-axis coordinate of the light spot, so as to obtain the coordinate of the light spot in the second coordinate system.
9. The method according to claim 6, wherein the obtaining a first spatial vector corresponding to the laser beam in a third coordinate system according to coordinates of a vertex of the corner cube in the third coordinate system, and obtaining a second spatial vector corresponding to the laser beam in the second coordinate system according to coordinates of the spot in the second coordinate system, specifically comprises:
taking the origin of the third coordinate system as a starting point and the vertex of the corner cube prism as an end point, and acquiring the first space vector; and taking the origin of the second coordinate system as a starting point and the light spot as an end point to acquire the second space vector.
10. The method according to claim 6, wherein the obtaining the attitude angle of the cooperative target in the third coordinate system through the laser beam vector identity according to the first space vector, the second space vector and the roll angle of the cooperative target in the second coordinate system comprises:
respectively carrying out normalization processing on the first space vector and the second space vector to obtain a first unit vector and a second unit vector;
and obtaining an attitude angle of the second coordinate system relative to the third coordinate system according to an Euler transformation formula between the first unit vector and the second unit vector and a rolling angle of the cooperative target in the second coordinate system, so as to obtain the attitude angle of the cooperative target in the third coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110239185.1A CN113048938B (en) | 2021-03-04 | 2021-03-04 | Cooperative target design and attitude angle measurement system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110239185.1A CN113048938B (en) | 2021-03-04 | 2021-03-04 | Cooperative target design and attitude angle measurement system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113048938A CN113048938A (en) | 2021-06-29 |
| CN113048938B true CN113048938B (en) | 2023-03-07 |
Family
ID=76509983
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110239185.1A Active CN113048938B (en) | 2021-03-04 | 2021-03-04 | Cooperative target design and attitude angle measurement system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113048938B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211494B (en) * | 2021-12-28 | 2024-01-12 | 核动力运行研究所 | Positioning system and method for dismounting and mounting steam generator closure plate bolts of multi-joint mechanical arm |
| CN114509005B (en) * | 2022-02-25 | 2023-06-23 | 深圳市中图仪器股份有限公司 | Coordinate measuring device with automatic target recognition function and recognition method thereof |
| CN114858097B (en) * | 2022-05-27 | 2023-08-01 | 森思泰克河北科技有限公司 | Laser radar rotating mirror included angle measuring method and measuring device |
| CN116045919A (en) * | 2022-12-30 | 2023-05-02 | 上海航天控制技术研究所 | Space cooperation target based on TOF system and relative pose measurement method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104897142A (en) * | 2015-06-11 | 2015-09-09 | 湖北工业大学 | Three-dimensional target for binocular or multi-view vision dimension measuring |
| CN108225258A (en) * | 2018-01-09 | 2018-06-29 | 天津大学 | Based on inertance element and laser tracker dynamic pose measuring apparatus and method |
| CN109448055A (en) * | 2018-09-20 | 2019-03-08 | 中国科学院光电研究院 | Monocular vision attitude determination method and system |
| CN109737913A (en) * | 2018-11-23 | 2019-05-10 | 湖北工业大学 | A kind of laser tracking attitude angle system and method |
| CN110017810A (en) * | 2019-05-16 | 2019-07-16 | 湖北工业大学 | A kind of photoelectrical position sensor and monocular vision assembled gesture measuring system and method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101750012A (en) * | 2008-12-19 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Device for measuring six-dimensional position poses of object |
| JP2020024142A (en) * | 2018-08-07 | 2020-02-13 | 日本電信電話株式会社 | Measurement calibration device, measurement calibration method and program |
-
2021
- 2021-03-04 CN CN202110239185.1A patent/CN113048938B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104897142A (en) * | 2015-06-11 | 2015-09-09 | 湖北工业大学 | Three-dimensional target for binocular or multi-view vision dimension measuring |
| CN108225258A (en) * | 2018-01-09 | 2018-06-29 | 天津大学 | Based on inertance element and laser tracker dynamic pose measuring apparatus and method |
| CN109448055A (en) * | 2018-09-20 | 2019-03-08 | 中国科学院光电研究院 | Monocular vision attitude determination method and system |
| CN109737913A (en) * | 2018-11-23 | 2019-05-10 | 湖北工业大学 | A kind of laser tracking attitude angle system and method |
| CN110017810A (en) * | 2019-05-16 | 2019-07-16 | 湖北工业大学 | A kind of photoelectrical position sensor and monocular vision assembled gesture measuring system and method |
Non-Patent Citations (3)
| Title |
|---|
| Attitude measurement method based on 2DPSD and monocular vision;Kun Yan, et al.;《Applied Optics and Photonics China》;20191231;第11338卷;113382L-1-113382L-12 * |
| 单目视觉姿态自动测量方法研究;张慧娟;《中国优秀博硕士学位论文全文数据库（硕士）信息科技辑》;20190915(第09期);第3-4章 * |
| 基于视觉与激光准直的激光跟踪姿态角测量方法;张刘港，等;《仪 器 仪 表 学 报》;20200831;第41卷(第8期);30-36 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113048938A (en) | 2021-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113048938B (en) | Cooperative target design and attitude angle measurement system and method | |
| CN109099883A (en) | The big visual field machine vision metrology of high-precision and caliberating device and method | |
| CN109323650A (en) | Image visual transducer and the unified approach for putting ligh-ranging sensor measurement coordinate system | |
| CN108198219B (en) | Error compensation method for camera calibration parameters for photogrammetry | |
| CN109737913A (en) | A kind of laser tracking attitude angle system and method | |
| WO2018201677A1 (en) | Bundle adjustment-based calibration method and device for telecentric lens-containing three-dimensional imaging system | |
| CN111578860A (en) | Three-dimensional shape measuring method based on reflector and monocular vision | |
| CN110910506B (en) | Three-dimensional reconstruction method and device based on normal detection, detection device and system | |
| CN107121073B (en) | High-precision three-degree-of-freedom real-time measurement method and device based on laser interferometer | |
| CN113028990B (en) | Laser tracking attitude measurement system and method based on weighted least square | |
| Matos et al. | Underwater laser triangulation sensor model with flat refractive interfaces | |
| CN115218813A (en) | Large-size reflecting surface measuring method | |
| CN114299156A (en) | Method for calibrating and unifying coordinates of multiple cameras in non-overlapping area | |
| CN115861445A (en) | Hand-eye calibration method based on calibration plate three-dimensional point cloud | |
| CN114577448A (en) | Double optical axis calibration method of novel portable optical axis target calibration adaptive device | |
| CN113916128A (en) | Method for improving precision based on optical pen type vision measurement system | |
| CN114926538A (en) | External parameter calibration method and device for monocular laser speckle projection system | |
| CN110827359A (en) | Checkerboard trihedron-based camera and laser external reference checking and correcting method and device | |
| CN111220118B (en) | Laser range finder based on visual inertial navigation system and range finding method | |
| CN111998823B (en) | Target ranging method based on binocular different-light-source ranging device | |
| CN117553697A (en) | High-speed camera shooting measurement method and cabin door deformation measurement system based on LEDs | |
| CN110146032A (en) | Synthetic aperture camera calibration method based on optical field distribution | |
| Ye et al. | A calibration trilogy of monocular-vision-based aircraft boresight system | |
| CN114241059B (en) | Synchronous calibration method for camera and light source in photometric stereo vision system | |
| CN114119747B (en) | Three-dimensional flow field flow display method based on PMD wave front detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |