CN113514034A - Portable self-stabilization real-time pose measuring device - Google Patents
Portable self-stabilization real-time pose measuring device Download PDFInfo
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- CN113514034A CN113514034A CN202110485863.2A CN202110485863A CN113514034A CN 113514034 A CN113514034 A CN 113514034A CN 202110485863 A CN202110485863 A CN 202110485863A CN 113514034 A CN113514034 A CN 113514034A
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- 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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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Abstract
A portable self-stabilizing real-time pose measuring device comprises a cooperation mark fixed on the surface of a measured target object, a measurement and control module used for shooting an appearance characteristic image of the measured target object, and a handheld stabilizer bar used for installing the measurement and control module. The portable self-stabilization real-time pose measuring device solves the problem of low image imaging quality caused by long-range view field and shaking when a camera shoots a target object by utilizing the handheld stabilizer bar, advantageously improves the measuring precision, and simultaneously can also utilize the geometric characteristic information of the cooperative mark to enhance the robustness of the visual pose measurement. The invention has the advantages of convenient use, low cost, high measurement precision and the like.
Description
Technical Field
The invention relates to a portable self-stabilizing real-time pose measuring device which can be applied to the transportation, butt joint and assembly of large ships and warships and can be widely applied to the related technical fields of robot guidance, automatic carrying, automatic hoisting, precise assembly butt joint and the like.
Background
Common non-contact pose measurement methods generally include radio frequency measurement, infrared measurement, laser measurement, and vision measurement: the radio frequency measurement mainly comprises a transmitting end and a receiving end, the technology is relatively mature, the high measurement precision can be achieved, but a receiving device needs to be installed on a measured object, the use is relatively complicated, and the cost is high; the infrared measurement is similar to the radio frequency measurement, and also needs a transmitting end and a receiving end, and the measurement can be realized only by aligning to a receiving device on a measured object during measurement, so that the cost is low, but the application range is narrow, and the measurement precision is not high; the laser measurement has the advantages of high precision, high power, strong anti-interference capability and the like, can be used only by being matched with an auxiliary measurement device, has very high cost and is not beneficial to wide-range popularization and use; the vision measurement has the advantages of high precision, low cost and the like, but the measurement precision and robustness are greatly influenced by remote visual field, visual field shaking, illumination and temperature.
Disclosure of Invention
In order to solve the problems, a portable self-stabilizing real-time pose measuring device is provided.
The object of the invention is achieved in the following way:
a portable self-stabilizing real-time pose measuring device comprises a cooperation mark fixed on the surface of a measured target object, a measurement and control module used for shooting an appearance characteristic image of the measured target object, and a handheld stabilizer bar used for installing the measurement and control module.
The cooperative indicia is a pattern having known geometric features.
The handheld stabilizer bar comprises an adjustable telescopic rod, a first connecting rod and a second connecting rod, wherein the adjustable telescopic rod is rotatably connected with one end of the first connecting rod, and the other end of the first connecting rod is rotatably connected with one end of the second connecting rod; a first micro motor is arranged at the position of the adjustable telescopic rod and the first connecting rod, an output shaft of the first micro motor is fixedly connected with the first connecting rod, a second micro motor is arranged at the connecting position of the first connecting rod and the second connecting rod, an output shaft of the second micro motor is fixedly connected with the second connecting rod, a third micro motor is arranged at the connecting position of the second connecting rod and the measurement and control module, and an output shaft of the third micro motor is fixedly connected with the measurement and control module; the adjustable telescopic rod is provided with an attitude sensor at one end close to the first connecting rod, a handle is arranged at one end far away from the first connecting rod, and the first micro motor, the second micro motor, the third micro motor and the attitude sensor are respectively electrically connected with the measurement and control module.
The adjustable telescopic rod is close to the one end of handle and is equipped with button and display screen, button and display screen are connected with observing and controling the module electricity.
The button includes measurement button and self stabilization button, measurement button is used for triggering/stopping measuring device and measures target material position appearance, and the self stabilization button is used for triggering/stopping the terminal self stabilization control of handheld stabilizer bar that is connected with observing and controlling module.
The measurement and control module comprises a protective shell, at least two groups of cameras, an electrical interface, an installation interface, a measurement and control processor, a heating belt and a temperature sensor, wherein the at least two groups of cameras, the electrical interface and the installation interface are arranged on the protective shell; wherein the measurement and control processor is respectively electrically connected with the camera, the heating belt and the temperature sensor.
The invention has the beneficial effects that: the portable self-stabilization real-time pose measuring device solves the problem of low image imaging quality caused by long-range view field and shaking when a camera shoots a target object by utilizing the handheld stabilizer bar, advantageously improves the measuring precision, and simultaneously can also utilize the geometric characteristic information of the cooperative mark to enhance the robustness of the visual pose measurement. The invention has the advantages of convenient use, low cost, high measurement precision and the like.
Drawings
Fig. 1 is a measurement schematic diagram of the portable self-stabilization real-time pose measurement device of the invention.
Fig. 2 is a schematic structural view of a handheld stabilizer bar of the present invention.
FIG. 3 is a schematic view of the configuration of the measurement and control module of the present invention.
Fig. 4 is a flowchart of a pose measurement method in the present invention.
FIG. 5 is a flow chart of a self-stabilization control method of the present invention.
Fig. 6 is a flow chart of a heating control method of the present invention.
The system comprises a handle 1, a button 2, a display screen 3, a locking module 4, an adjustable telescopic rod 5, an attitude sensor 6, a first micro motor 7, a first connecting rod 8, a second micro motor 9, a second connecting rod 10, a third micro motor 11, a measurement and control module 12, a camera 13, a mounting interface 14, a cooperation mark 15, a target 16 and a protective shell 17.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same technical meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and it should be further understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of the stated features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the respective parts or elements of the present invention, and are not intended to refer to any part or element of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
Fig. 1 to fig. 3 show, wherein fig. 1 is a schematic measurement diagram of the portable self-stabilization real-time pose measurement device of the present invention, fig. 2 is a schematic structural diagram of the handheld stabilizer bar of the present invention, and fig. 3 is a schematic external view of the measurement and control module.
A portable self-stabilizing real-time pose measuring device comprises a cooperation mark fixed on the surface of a measured target object, a measurement and control module used for shooting an appearance characteristic image of the measured target object, and a handheld stabilizer bar used for installing the measurement and control module.
The cooperative indicia 15 is a pattern having known geometric features. The cooperation mark 15 is arranged on the surface of the measured target object 16 and fixedly connected with the surface of the target object into a whole, and is mainly used for improving the accuracy and robustness of pose measurement, and the characteristic information of the cooperation mark contains known arranged geometric textures such as identification points, identification lines and the like. The cooperative indicia may be a two-dimensional code, a squared figure, a circle, a square, etc. having a pattern of known geometric features.
The handheld stabilizer bar comprises an adjustable telescopic rod 5, a first connecting rod 8 and a second connecting rod 10, wherein the adjustable telescopic rod 5 is rotatably connected with one end of the first connecting rod 8, and the other end of the first connecting rod 8 is rotatably connected with one end of the second connecting rod 10; a first micro motor 7 is arranged at the joint of the adjustable telescopic rod 5 and the first connecting rod 8, an output shaft of the first micro motor 7 is fixedly connected with the first connecting rod 8, a second micro motor 9 is arranged at the joint of the first connecting rod 8 and the second connecting rod 10, an output shaft of the second micro motor 9 is fixedly connected with the second connecting rod 10, a third micro motor 11 is arranged at the joint of the second connecting rod 10 and the measurement and control module, and an output shaft of the third micro motor 11 is fixedly connected with the measurement and control module 12; the adjustable telescopic rod 5 is equipped with attitude sensor 6 near the one end of first connecting rod 8, keeps away from the one end of first connecting rod and is equipped with handle 1, and wherein first micro motor 7, second micro motor 9, third micro motor 11 and attitude sensor 6 are connected with observing and controlling module 12 electricity respectively.
One end of the adjustable telescopic rod 5, which is close to the handle, is provided with a button 2 and a display screen 3, and the button 2 and the display screen 3 are respectively electrically connected with the measurement and control module.
The button includes measurement button and self stabilization button, measurement button is used for triggering/stopping measuring device and measures target material position appearance, and the self stabilization button is used for triggering/stopping the terminal self stabilization control of handheld stabilizer bar that is connected with observing and controlling module.
The whole rod piece of handheld stabilizer bar mainly adopts light material, and the surface of handheld handle adopts flexible material so that the comfortable holding of operator. According to the requirement of an operator on the shooting view angle of a target object, when the self-stabilizing button is pressed down, the posture of the measurement and control module is in a self-stabilizing control state, namely the posture between the measurement and control module and the ground is kept unchanged no matter how the handheld frame is shaken by the operator, and when the self-stabilizing button is bounced, the posture between the measurement and control module and the handheld frame is kept unchanged; the display screen adopts an ultrathin liquid crystal display and is fixedly connected with the rod piece, and the display screen can display the imaging information of the front-end camera of the measurement and control module in real time so that an operator can observe whether the front-end camera shoots a target object; the locking module 4 is fixedly connected with one end of the adjustable telescopic rod, the locking/unlocking function of the telescopic rod can be rapidly realized through a wedge-shaped structure, and when the telescopic rod is unlocked, the length of the telescopic rod can be manually adjusted according to the requirement of an operator on the shooting distance of a target object; the attitude sensor can measure a three-dimensional attitude angle between the tail end of the adjustable telescopic rod and the ground and transmit attitude angle data to a processor in the measurement and control module; a self-stabilization driving mechanism is formed by the first micro motor 7, the first connecting rod 8, the second micro motor 9, the second connecting rod 10 and the third micro motor 11, inverse kinematics calculation is carried out through a processor in the measurement and control module 12 to control the rotating angles of the first micro motor 7, the second micro motor 9 and the third micro motor 11, and therefore attitude self-stabilization control of the terminal measurement and control module is achieved.
In conclusion, the handheld stabilizer bar provides a convenient shooting mode for an operator to obtain a higher-quality image, and the pose measurement accuracy of the target object is improved.
The measurement and control module comprises a protective shell, a plurality of groups of cameras 13, an electrical interface and installation interface 14, a measurement and control processor, a heating belt and a temperature sensor, wherein the cameras 13, the electrical interface and the installation interface 14 are arranged on the protective shell; wherein the measurement and control processor is respectively electrically connected with the camera, the heating belt and the temperature sensor.
The plurality of sets of cameras are composed of two or more cameras, and as shown in fig. 3, three cameras are used. The multi-group cameras are arranged on the surface of the measurement and control module, the measurement and control module shoots a target object by the multi-group cameras in order to enlarge the vertical shooting field of view of the cameras, a small blind area exists before any two adjacent cameras arranged cross the field of view, the target object to be measured can form an image in an effective field angle built by the multi-group cameras during use, and then the image is transmitted to the measurement and control processor.
The measurement and control processor is positioned in the protective shell and is mainly used for a real-time operation pose measurement method, a self-stabilization control method and a heating control method. The pose measurement method has the function of resolving the six-dimensional relative pose of the target object, and finally transmits the state information of the six-dimensional relative pose between the resolved target objects to upper-layer application equipment in a wireless or wired communication mode, and the specific method is as follows: s1, calibrating the internal reference and the external reference of the multi-view camera; s2: the camera collects images and identifies and positions the cooperative marks; calculating the relative pose of each cooperative mark and each camera in each camera view field by utilizing a PnP algorithm; s3: if the two cooperative markers are collected by different cameras, the two cooperative camera markers are respectively in the view field of the camera A, C, coordinate transformation is carried out by using external parameters of the camera A, C to obtain the spatial pose relationship of the two cooperative markers, and the spatial pose relationship between the two objects is solved according to the pose relationship between the cooperative markers and the objects where the cooperative markers are located; if the two cooperative markers are not collected by different cameras, coordinate transformation is carried out by using external parameters of the camera A, C to obtain the spatial pose relationship of the two cooperative markers, and the spatial pose relationship between the two objects is solved according to the pose relationship of the cooperative markers and the objects where the cooperative markers are located; if the two cooperative marks are collected by different cameras, the two cooperative camera marks are not in the field of view of the camera A, C respectively, the two cooperative camera marks are in the field of view of the camera B, C respectively, coordinate transformation is performed by using external parameters of the camera A, C to obtain the spatial pose relationship of the two cooperative marks, and the spatial pose relationship between the two objects is solved according to the pose relationship between the cooperative marks and the objects in which the cooperative marks are located; if the two cooperative marks are collected by different cameras, the two cooperative camera marks are not in the field of view of the camera A, C respectively, the two cooperative camera marks are not in the field of view of the camera B, C, coordinate transformation is carried out on external references of the camera A, C to obtain the spatial pose relationship of the two cooperative marks, the spatial pose relationship between the two objects is solved according to the pose relationship between the cooperative marks and the objects where the cooperative marks are located, and the flow chart of the method is shown in fig. 4.
The self-stabilization control method has the function of resolving and controlling the attitude stabilization between the measurement and control module and the ground, and finally the attitude between the measurement and control module and the ground is kept unchanged by driving and controlling the micro motor of the handheld stabilizer bar, and the specific method comprises the following steps: s1: various variables required to initialize the self-stabilization control solution process, S2: updating the initial three-axis attitude angle of the tail end of the telescopic rod and the ground and the initial joint angle of the adjacent connecting rod of the self-stabilizing driving mechanism, and S3: acquiring a three-axis attitude angle S4 between the telescopic rod tail end attitude sensor and the ground: if the self-stabilizing button is pressed down, three-axis relative attitude angles of the tail end of the telescopic rod and the measurement and control module are worked out by the attitude sensor at the tail end of the telescopic rod and the three-axis attitude angle of the earth, the measurement and control module and the initial three-axis attitude angle of the earth, the expected joint angle of the adjacent connecting rod of the self-stabilizing driving mechanism is worked out by the three-axis relative attitude angles of the telescopic rod module and the measurement and control module through kinematic inverse solution, and the expected joint angle of the adjacent connecting rod of the self-stabilizing driving mechanism is used for carrying out closed-loop control on the joint intersection of each micro motor; if the self-stabilization button is not detected to be pressed down, the initial joint angle of the adjacent connecting rod of the self-stabilization driving mechanism is subjected to kinematics forward solution to obtain the initial three-axis relative attitude angle between the tail end of the telescopic rod and the measurement and control module, the initial three-axis relative attitude angle between the tail end of the telescopic rod and the measurement and control module and the initial three-axis attitude angle between the tail end of the telescopic rod and the ground are used for obtaining the initial three-axis attitude angle between the side control module and the ground, and then the operation returns to S2 to start again; the flow chart of the method is shown in figure 5.
The heating control method has the function of controlling the heating belt in the measurement and control module, so that the internal temperature of the measurement and control module is not lower than the lowest working temperature of the camera and the processor, and the method is used in a low-temperature environment and comprises the following specific steps: initializing all variables required in the temperature control process, and acquiring temperature sensor data; if the temperature is lower than the low temperature limit, the heating belt is started, and if the temperature is higher than the high temperature limit, the heating belt is closed. The flow chart of the method is shown in figure 6.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (6)
1. The utility model provides a real-time position appearance measuring device of portable self stabilization which characterized in that: the device comprises a cooperation mark fixed on the surface of a measured object, a measurement and control module used for shooting an appearance characteristic image of the measured object, and a handheld stabilizer bar used for installing the measurement and control module.
2. The portable self-stabilizing real-time pose measurement device of claim 1, wherein: the cooperative indicia is a pattern having known geometric features.
3. The portable self-stabilizing real-time pose measurement device of claim 1, wherein: the handheld stabilizer bar comprises an adjustable telescopic rod, a first connecting rod and a second connecting rod, wherein the adjustable telescopic rod is rotatably connected with one end of the first connecting rod, and the other end of the first connecting rod is rotatably connected with one end of the second connecting rod; a first micro motor is arranged at the position of the adjustable telescopic rod and the first connecting rod, an output shaft of the first micro motor is fixedly connected with the first connecting rod, a second micro motor is arranged at the connecting position of the first connecting rod and the second connecting rod, an output shaft of the second micro motor is fixedly connected with the second connecting rod, a third micro motor is arranged at the connecting position of the second connecting rod and the measurement and control module, and an output shaft of the third micro motor is fixedly connected with the measurement and control module; the adjustable telescopic rod is provided with an attitude sensor at one end close to the first connecting rod, a handle is arranged at one end far away from the first connecting rod, and the first micro motor, the second micro motor, the third micro motor and the attitude sensor are respectively electrically connected with the measurement and control module.
4. The portable self-stabilizing real-time pose measurement device of claim 3, wherein: the adjustable telescopic rod is close to the one end of handle and is equipped with button and display screen, button and display screen are connected with observing and controling the module electricity.
5. The portable self-stabilizing real-time pose measurement device of claim 4, wherein: the button includes measurement button and self stabilization button, measurement button is used for triggering/stopping measuring device and measures target material position appearance, and the self stabilization button is used for triggering/stopping the terminal self stabilization control of handheld stabilizer bar that is connected with observing and controlling module.
6. The portable self-stabilizing real-time pose measurement device of claim 1, wherein: the measurement and control module comprises a protective shell, at least two groups of cameras, an electrical interface, an installation interface, a measurement and control processor, a heating belt and a temperature sensor, wherein the at least two groups of cameras, the electrical interface and the installation interface are arranged on the protective shell; wherein the measurement and control processor is respectively electrically connected with the camera, the heating belt and the temperature sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110485863.2A CN113514034A (en) | 2021-04-30 | 2021-04-30 | Portable self-stabilization real-time pose measuring device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110485863.2A CN113514034A (en) | 2021-04-30 | 2021-04-30 | Portable self-stabilization real-time pose measuring device |
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| CN113514034A true CN113514034A (en) | 2021-10-19 |
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| CN202110485863.2A Pending CN113514034A (en) | 2021-04-30 | 2021-04-30 | Portable self-stabilization real-time pose measuring device |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107883131A (en) * | 2017-09-29 | 2018-04-06 | 魏承赟 | A kind of scalable stabilizer and its control method |
| CN109434839A (en) * | 2018-12-25 | 2019-03-08 | 江南大学 | A kind of robot self-calibrating method based on monocular vision auxiliary positioning |
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2021
- 2021-04-30 CN CN202110485863.2A patent/CN113514034A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107883131A (en) * | 2017-09-29 | 2018-04-06 | 魏承赟 | A kind of scalable stabilizer and its control method |
| CN109434839A (en) * | 2018-12-25 | 2019-03-08 | 江南大学 | A kind of robot self-calibrating method based on monocular vision auxiliary positioning |
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