CN113390343B - Cooperative target space pose detection device and method thereof - Google Patents
Cooperative target space pose detection device and method thereof Download PDFInfo
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- CN113390343B CN113390343B CN202110719464.8A CN202110719464A CN113390343B CN 113390343 B CN113390343 B CN 113390343B CN 202110719464 A CN202110719464 A CN 202110719464A CN 113390343 B CN113390343 B CN 113390343B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
Abstract
The invention relates to a cooperative target space pose detection device and a method thereof, wherein the device comprises a cooperative light target, a dimming controller, a PSD detector, a data acquisition unit and a computer, wherein the cooperative light target is connected with a cursor target pose control system for realizing cooperative cursor target pitch angle, yaw angle and roll angle pose adjustment; the dimming controller controls the brightness and flickering sequence of the characteristic light source on the combined light target; the PSD detector is used for detecting the position information of the characteristic light source on the cooperative light target and transmitting the detected data information to the computer through the data acquisition unit; and the computer completes the space pose calculation of the cooperative target according to the position information of the characteristic light source on the cooperative light target. Compared with the prior art, the invention can realize the carrying of more characteristic information by carrying out joint modulation on the brightness and the flicker sequence of the characteristic light source, and ensures that the space pose of the cooperative target is efficiently and accurately detected by combining a rapid and continuous detection means.
Description
Technical Field
The invention relates to the technical field of space light point pose detection, in particular to a cooperative target space pose detection device and a cooperative target space pose detection method.
Background
The relative position and attitude measurement of a space target are all the research emphasis in the field of aviation docking, and the main methods of the current common space target pose detection are a telemetry method based on radar technology and a vision measurement method based on optical technology, wherein the vision measurement method gradually becomes a main mode of near-distance pose detection because of the advantages of high response speed, high stability, large information quantity and the like.
The spatially detected objects are largely divided into cooperative objects and non-cooperative objects. Wherein the cooperative targets are the detected targets with fixed size and structure characteristics for identification, and can be light source targets and the like which are pre-installed on the targets, wherein the arrangement form, sequence and distance of the light sources are fixed; non-cooperative targets are those whose location information is not available for obtaining the exact location of the target, except by sensors. In order to realize the space pose detection of a combined target, a binocular vision mode is adopted in the prior art, namely, the principle of bionics is utilized, the space relative position information of the target is directly obtained through a triangulation principle, and then the pose information of the target is calculated through feature constraint, but a CCD (charge coupled device) and a CMOS (complementary metal oxide semiconductor) are generally adopted as imaging sensors in the prior art, images are required to be processed in the process of feature extraction, the pose calculation workload is increased, in addition, the prior cursor target only considers the geometric constraint relation among feature light points so as to be used for the proportional calculation of the size, and when the light points on the light target emit light simultaneously, the accurate pose calculation is difficult to carry out.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a cooperative target space pose detection device and a method thereof so as to achieve the purpose of more efficiently and accurately acquiring the cooperative target space pose.
The aim of the invention can be achieved by the following technical scheme: the space pose detection device of the cooperative target comprises a cooperative light target carrying a characteristic light source, a dimming controller, a PSD detector capable of adjusting a moving position, a data acquisition unit and a computer, wherein the cooperative light target is connected with a cursor target pose control system, the PSD detector, the data acquisition unit and the computer are sequentially connected, and the cursor target pose control system is used for realizing pose adjustment of a pitch angle, a yaw angle and a rolling angle of the cooperative cursor target;
the dimming controller is used for controlling the brightness and the flickering sequence of the characteristic light source on the cooperative light target;
the PSD detector is used for detecting the position information of the characteristic light source on the cooperative light target and transmitting the detected data information to the computer through the data acquisition unit;
and the computer completes the space pose calculation of the cooperative target according to the position information of the characteristic light source on the cooperative light target, and obtains the space pose data corresponding to the cooperative cursor target.
Further, the cooperative light target includes a panel on which a plurality of LED light sources are disposed in a matrix arrangement.
Further, the dimming controller comprises a main control unit, the main control unit is connected with a plurality of paths of LED driving units corresponding to the LED light sources, the main control unit is used for outputting a plurality of independent PWM pulse signals to the plurality of paths of LED driving units so as to independently control the brightness of the LED light sources, and the dimming controller further comprises an embedded MCU (micro control unit) used for controlling the flickering sequence of the LED light sources.
Further, an optical lens is installed in front of the LED light source.
Further, the cursor target attitude control system comprises a mechanical arm and an attitude angle sensor, wherein the cooperative cursor target is arranged at the tail end of the mechanical arm, the attitude angle sensor is arranged at the rear of the cooperative light target, and the attitude angle sensor is used for detecting the attitude angle information of the cooperative light target in real time.
Further, the PSD detector is installed on a three-dimensional moving platform, and the three-dimensional moving platform is used for realizing the vertical, horizontal and vertical spatial position movement of the PSD detector.
Further, install horizon rule and laser range finder on the three-dimensional mobile platform, the horizon rule is used for guaranteeing the horizontal position of PSD detector, the laser range finder is used for measuring the distance between PSD detector and the cooperation light target.
Further, the PSD detector is specifically a dual PSD sensing detection camera.
A cooperative target space pose detection method comprises the following steps:
s1, a cursor target attitude control system adjusts the attitude of a pitch angle, a yaw angle and a roll angle of a combined light target, and a dimming controller controls the brightness and the flickering sequence of a characteristic light source on the combined light target;
s2, detecting the position information of each characteristic light source of the cooperative light target in different postures in real time by a PSD detector, and transmitting the detected position information to a computer through a data acquisition system;
and S3, sequentially carrying out sampling mean value filtering, ambient background light compensation, PSD position coordinate calculation, nonlinear correction of coordinates and position calculation of space light spots on the received data information by the computer to obtain space pose data corresponding to the cooperative cursor targets.
Further, the dimming controller in step S1 specifically adjusts the brightness of each characteristic light source independently based on the PWM pulse signal, and controls the flicker sequence of each characteristic light source through the embedded MCU.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the dimming controller and the PSD detector capable of adjusting the moving position are arranged, the dimming controller is used for controlling the brightness and the flicker sequence of the characteristic light source on the combined light target, and the PSD detector is combined for continuously and rapidly detecting the position information of the characteristic light source on the combined light target, so that more characteristic information can be carried, and the position and pose calculation can be efficiently and accurately carried out by a subsequent computer, so that the space position and pose data corresponding to the combined cursor target can be obtained.
2. According to the invention, by arranging the cursor target gesture control system, the gesture adjustment of the pitch angle, the yaw angle and the rolling angle of the cooperative cursor target can be accurately realized by using the mechanical arm and the gesture angle sensor, so that the characteristic light source can have different gestures, and the diversity of detected characteristic information is further improved.
3. According to the invention, the PSD detector can realize the vertical and horizontal spatial position movement by arranging the three-dimensional movable platform, and meanwhile, the horizontal direction of the PSD detector and the distance between the PSD detector and the cooperative light target are measured by combining the horizontal ruler, so that the PSD detector can accurately detect the position information of each characteristic light source.
Drawings
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is a schematic diagram of a cooperative optical target in an embodiment;
FIG. 3 is a schematic flow chart of the method of the present invention;
FIG. 4 is a schematic diagram of a pulse signal modulated by combining brightness and flicker sequences of an LED light source according to an embodiment;
the figure indicates: 1. the three-dimensional light source comprises a cooperative light target, 2, a gesture angle sensor, 3, a dimming controller, 4, a mechanical arm, 5, a PSD detector, 6, a level bar, 7, a laser range finder, 8, a three-dimensional moving platform, 9, a data acquisition unit, 10, a computer, 101, a panel, 102, an LED light source, 103 and an optical lens.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples.
Examples
The space pose detection device of the cooperative target comprises a cooperative light target 1 carrying a characteristic light source, a dimming controller 3, a PSD detector 5 capable of adjusting the moving position, a data acquisition unit 9 and a computer 10, wherein the cooperative light target 1 is connected with a cursor target pose control system, the PSD detector 5, the data acquisition unit 9 and the computer 10 are sequentially connected, the cursor target pose control system comprises a mechanical arm 4 and a pose angle sensor 2, the cooperative light target 1 is arranged at the tail end of the mechanical arm 4, the pose angle sensor 2 is arranged at the rear of the cooperative light target 1, the pose angle sensor 2 is used for detecting the pose angle information of the cooperative light target 1 in real time, and the mechanical arm 4 is matched for realizing the pose adjustment of the pitch angle, the yaw angle and the rolling angle of the cooperative light target 1;
the dimming controller 3 is used for controlling the brightness and the flickering sequence of the characteristic light sources on the synthetic light target 1, in this embodiment, the dimming controller 3 comprises a main control unit, the main control unit is connected with a plurality of paths of LED driving units corresponding to the LED light sources, the main control unit is used for outputting a plurality of independent PWM pulse signals to the plurality of paths of LED driving units so as to independently control the brightness of the LED light sources, and the dimming controller 3 also comprises an embedded MCU (micro controller unit) used for controlling the flickering sequence of the LED light sources;
the PSD detector 5 is used for detecting the position information of the characteristic light source on the cooperative light target 1, the detected data information is transmitted to the computer 10 through the data acquisition unit 9, the PSD detector 5 is installed on the three-dimensional moving platform 8, the three-dimensional moving platform 8 is used for realizing the up-down, left-right spatial position movement of the PSD detector 5, the level bar 6 and the laser range finder 7 are installed on the three-dimensional moving platform 8, the laser range finder 7 is used for measuring the distance between the PSD detector 5 and the cooperative light target 1, in practical application, four driving motors are arranged on the three-dimensional moving platform 8, wherein two driving motors are used for synchronously driving the sliding blocks on two parallel sliding rails to move in the horizontal x direction, so that the movement of the PSD detector 5 in the horizontal left-right direction is realized, and the other driving motor is used for realizing the movement of the PSD detector 5 in the vertical up-down y direction, and the driving motor is also used for realizing the movement of the PSD detector 5 in the front-back z direction;
the computer 10 completes the space pose calculation of the cooperative target according to the position information of the characteristic light source on the cooperative light target 1, and obtains the space pose data corresponding to the cooperative light target 1.
As shown in fig. 2, the cooperative optical target 1 includes a panel 101, on which a plurality of LED light sources 102 are arranged in a matrix, and in this embodiment, a high-power LED light source is adopted, and an optical lens 103 is installed in front of the LED light source 102, for optimizing a divergence angle, so as to form a highlight light spot with uniformly concentrated energy, thereby increasing the contrast ratio between a detection light source and ambient background light, and improving the signal to noise ratio of a space light spot detection and calculation system.
The device is applied to practice to realize a cooperative target space pose detection method, as shown in fig. 3, and comprises the following steps:
s1, a cursor target attitude control system adjusts the attitude of a pitch angle, a yaw angle and a roll angle of a combined light target, and a dimming controller controls the brightness and the flickering sequence of characteristic light sources on the combined light target, specifically, the brightness of each characteristic light source is independently adjusted based on PWM pulse signals, and the flickering sequence of each characteristic light source is controlled through an embedded MCU;
s2, detecting the position information of each characteristic light source of the cooperative light target in different postures in real time by a PSD detector, and transmitting the detected position information to a computer through a data acquisition system;
and S3, sequentially carrying out sampling mean value filtering, ambient background light compensation, PSD position coordinate calculation, nonlinear correction of coordinates and position calculation of space light spots on the received data information by the computer to obtain space pose data corresponding to the cooperative cursor targets.
By applying the technical scheme, the embodiment firstly constructs the whole device, and comprises the following steps: a high-power LED is adopted as a characteristic light source for the cooperative light target carrying characteristic light spots;
the cursor target attitude control system is used for installing the cooperative optical targets on the mechanical arm so as to realize attitude adjustment of pitch angle, yaw angle and rolling angle, installing the cooperative optical targets on the mechanical arm with freely adjustable angles, controlling the pitch angle, yaw angle and rolling angle of the optical targets, facilitating the realization of detection of space attitudes, and installing an attitude angle sensor on the back of the optical targets so as to detect the operation angle of the optical targets;
the dimming controller modulates the brightness of the characteristic light source by adopting a PWM constant current driving mode and controls the flickering sequence of the light source through the embedded MCU control system;
the embodiment adopts a double PSD sensing detection camera, the double PSD sensing detection camera is arranged on a three-dimensional movable platform, a level bar is arranged on the three-dimensional movable platform to ensure the horizontal position of the double PSD sensing detection camera, a laser range finder is arranged above the double PSD sensing detection camera and used for measuring the distance from the PSD camera to a target, the double PSD sensing detection camera converts light signals into current signals, the three-dimensional position coordinates of the space light spots are calculated on two-dimensional image coordinates imaged by respective photosensitive surfaces and the relative position relation of the two sensors, the conversion from photocurrent to voltage is realized through a pre-amplifying circuit, the voltage is amplified to realize A/D conversion, and the A/D data is transmitted to a computer through a data acquisition unit to process the A/D data, wherein the processing comprises sampling average value filtering, ambient background light compensation, PSD position coordinate calculation, nonlinear correction of the coordinates, position calculation of the space light spots and the like, so as to complete gesture analysis;
the three-dimensional mobile platform is used for fixing and adjusting the position of the PSD detector;
the data acquisition unit is used for processing the data acquired by the PSD;
in this embodiment, the cursor target panel adopts a square shape, and 9 LED light sources are uniformly arranged on the target according to a 3×3 row and column arrangement mode, and because the LED divergence angle is relatively large, a front optical lens of each LED light source forms a highlight light spot with uniformly concentrated energy, the contrast ratio of the detection light source and the ambient background light is increased, and the signal to noise ratio of the space light spot detection and calculation system is improved. The LED driving mode adopts a constant current driving mode, the working current is not influenced by the voltage change at the two ends of the LED, the waste of extra power consumption is avoided, and the stability of the luminous power is ensured. Adopting PT4115 to step down constant current LED drive IC, realizing dimming by controlling voltage of DIM pin of internal connection power switch, PWM dimming realizing change of output current from 0% to 100% by inputting square wave above 10HZ to 20KHZ at DIM pin, brightness of LED being controlled by duty ratio of PWM signal and high level V of square wave connected to DIM pin pwm The method is characterized in that at least nine paths of LED control are needed to be realized by a cooperative cursor target, each path of LED can realize independent switching and dimming, so that a multi-path PWM dimming control system is constructed, an STM32 micro control unit is used as a main control unit, three groups of nine paths of LED driving circuits are controlled simultaneously, a key input group, an LED indicator light output group and an OLED display screen are arranged, nine paths of independent PWM pulses are output, output current is controlled through a DIM pin of PT4115, and the design of a multi-level menu mode of the combination of the OLED and the keys is convenient for parameter adjustment and mode selection. The flicker time sequence control of the characteristic light spots is realized through the MCU, and meanwhile, the brightness of each LED is independently regulated by PWM. As shown in fig. 4, taking three channels as an example, T is the effective dimming time of one LED, T is a basic pulse width of the PWM signal, D is a duty cycle, so that the luminous intensity in time can be determined, in the modulation process, three LEDs sequentially emit light for T time, and then a no-action period of one T time is used as a mark of the modulation end, the total system time is 4×t, so as to realize the joint modulation of the light spot flicker brightness and the sequence, and then perform subsequent modulation according to the position and the light intensity characteristics detected by the PSD.The luminous intensity in the effective time is determined by the duty ratio of each path, the complete modulation process is that the LEDs sequentially emit light for T time, and then a non-action period of the time T is linked to be used as a mark for finishing modulation, specifically, when a group of three paths of LEDs are controlled, as shown in fig. 4, the LEDs 1 are firstly lightened for time sequence control; then the LED2 is turned on, and the LED1 is turned off; then the LED3 is turned on, and the LED2 is turned off;
meanwhile, the brightness of each LED can be independently adjusted by PWM pulse: firstly, T is the effective dimming time of one path of LED, wherein T is a basic pulse width of a PWM signal, D is a duty ratio, and the luminous intensity in the time is determined by the duty ratio of each path;
therefore, under the time sequence, different duty ratios represent different brightness modulations, and under the time sequence, PWM pulses of each path can be independently controlled at the same time, and the brightness of each path can be adjusted at any time.
Claims (5)
1. The method for detecting the space pose of the cooperative target is applied to a device for detecting the space pose of the cooperative target and is characterized by comprising a cooperative light target (1) carrying a characteristic light source, a dimming controller (3), a PSD detector (5) capable of adjusting a moving position, a data acquisition unit (9) and a computer (10), wherein the cooperative light target (1) is connected with a cursor target pose control system, the PSD detector (5), the data acquisition unit (9) and the computer (10) are sequentially connected, and the cursor target pose control system is used for realizing pose adjustment of a pitch angle, a yaw angle and a rolling angle of the cooperative light target (1);
the dimming controller (3) is used for controlling the brightness and the flickering sequence of the characteristic light source on the acting light target (1);
the PSD detector (5) is used for detecting the position information of the characteristic light source on the cooperative light target (1) and transmitting the detected data information to the computer (10) through the data acquisition unit (9);
the computer (10) completes the space pose calculation of the cooperative target according to the position information of the characteristic light source on the cooperative light target (1) to obtain the space pose data corresponding to the cooperative light target (1);
the cooperative light target (1) comprises a panel (101), wherein a plurality of LED light sources (102) arranged in a matrix are arranged on the panel (101), the light modulation controller (3) comprises a main control unit, the main control unit is connected with a plurality of LED driving units corresponding to the LED light sources (102), the main control unit is used for outputting a plurality of independent PWM pulse signals to the plurality of LED driving units so as to independently control the brightness of the LED light sources (102), and the light modulation controller (3) also comprises an embedded MCU (micro control unit) used for controlling the flicker sequence of the LED light sources (102);
the cursor target attitude control system comprises a mechanical arm (4) and an attitude angle sensor (2), wherein the cooperative optical target (1) is arranged at the tail end of the mechanical arm (4), the attitude angle sensor (2) is arranged at the rear of the cooperative optical target (1), and the attitude angle sensor (2) is used for detecting the attitude angle information of the cooperative optical target (1) in real time;
the PSD detector (5) is arranged on a three-dimensional moving platform (8), and the three-dimensional moving platform (8) is used for realizing the up-down, left-right spatial position movement of the PSD detector (5);
the detection method comprises the following steps:
s1, a cursor target attitude control system adjusts the attitude of a pitch angle, a yaw angle and a roll angle of a combined light target, and a dimming controller controls the brightness and the flickering sequence of a characteristic light source on the combined light target;
s2, detecting the position information of each characteristic light source of the cooperative light target in different postures in real time by a PSD detector, and transmitting the detected position information to a computer through a data acquisition system;
and S3, sequentially carrying out sampling mean value filtering, ambient background light compensation, PSD position coordinate calculation, nonlinear correction of coordinates and position calculation of space light spots on the received data information by the computer to obtain space pose data corresponding to the cooperative cursor targets.
2. The cooperative target spatial pose detection method according to claim 1, wherein an optical lens (103) is installed in front of the LED light source (102).
3. The cooperative target space pose detection method according to claim 1, wherein a level bar (6) and a laser range finder (7) are installed on the three-dimensional moving platform (8), the level bar (6) is used for guaranteeing the horizontal position of the PSD detector (5), and the laser range finder (7) is used for measuring the distance between the PSD detector (5) and the cooperative light target (1).
4. A method of collaborative target space position detection according to any of claims 1-3, characterized in that the PSD detector (5) is in particular a dual PSD sensing detection camera.
5. The method for detecting the spatial pose of the cooperative target according to claim 1, wherein the dimming controller in step S1 specifically adjusts the brightness of each characteristic light source independently based on PWM pulse signals, and controls the flicker sequence of each characteristic light source through the embedded MCU.
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