CN113572557B - Method for quickly synchronizing time stamps based on CAN communication and optical scanner thereof - Google Patents
Method for quickly synchronizing time stamps based on CAN communication and optical scanner thereof Download PDFInfo
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- CN113572557B CN113572557B CN202110752061.3A CN202110752061A CN113572557B CN 113572557 B CN113572557 B CN 113572557B CN 202110752061 A CN202110752061 A CN 202110752061A CN 113572557 B CN113572557 B CN 113572557B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0658—Clock or time synchronisation among packet nodes
- H04J3/0661—Clock or time synchronisation among packet nodes using timestamps
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- G—PHYSICS
- G04—HOROLOGY
- G04G—ELECTRONIC TIME-PIECES
- G04G7/00—Synchronisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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Abstract
The invention provides a method for quickly synchronizing time stamps based on CAN communication and an optical scanner thereof, which comprises the following steps: s1, placing an optical scanner at a corresponding position of a measured object; s2, performing three-dimensional laser scanning to respectively acquire a time stamp of a scanning system of the optical scanner and time stamp data of the joint arm; s3, forming a data packet by a CAN communication bus, and synchronizing the time stamp of the scanning system and the time stamp of the joint arm by the communication time stamp data of the CAN communication bus; s4, synchronously obtaining the duty ratio data to carry out subsequent interpolation operation. The invention synchronizes the time stamp of the joint arm and the scanning system by the communication time stamp data of the CAN communication bus, unifies the scanning data in the coordinate system of the joint arm base, and completes the scanning function.
Description
Technical Field
The invention relates to the technical field of three-dimensional laser measurement, in particular to a method for quickly synchronizing time stamps based on CAN communication and an optical scanner thereof.
Background
The three-dimensional laser scanning technology is a technology which starts to appear in the middle of nineties of the last century, and is a new breakthrough of a mapping technology after a GPS space positioning system. The three-dimensional coordinate data of the surface of the measured object is rapidly acquired in a large area and high resolution by a high-speed laser scanning measurement method. The method can rapidly acquire a large amount of space point location information, and provides a brand new technical means for rapidly establishing a three-dimensional image model of an object. The method has the characteristics of rapidness, non-contact property, real-time property, initiative, high density, high precision, digitization, automation and the like.
Currently, a common clock synchronization method for a scanner head and an articulated arm is a result of taking a trigger time of a trigger signal based on an articulated arm synchronization signal as an exposure start time of the scanner head as synchronization data. This will actually cause a certain "synchronization error", which is generated because the above synchronization method does not take into account that the exposure is a continuous process, and the intermediate time of the exposure duration should be taken as the synchronization time.
Disclosure of Invention
The invention solves the problems that: the scan data of the laser scanning probe is not well synchronized into the coordinate system of the base of the articulated arm.
In order to solve the above problems, in one aspect, the present invention provides a method for quickly synchronizing timestamps based on CAN communication, including the following steps:
s1, placing an optical scanner at a corresponding position of a measured object;
s2, performing three-dimensional laser scanning to respectively acquire a time stamp of a scanning system of the optical scanner and time stamp data of the joint arm;
s3, forming a data packet by a CAN communication bus, and synchronizing the time stamp of the scanning system and the time stamp of the joint arm by the communication time stamp data of the CAN communication bus;
s4, synchronously obtaining the duty ratio data to carry out subsequent interpolation operation.
Preferably, the operation of synchronizing the time stamps of the scanning system and the joint arm by communicating time stamp data through the CAN communication bus is as follows:
timestamp synchronization is performed by a counter in the CAN packet:
a1. joint arm timestamp count with cycle count length N
The valid range of the timestamp counter for the timestamp in the articulated arm is 0,1,2, …, N-1,0,1,2, … (the timestamp is counted back in);
a2. scanning system time stamp count, cycle count length N
The valid range of the timestamp counter of the timestamp in the scanning system is also 0,1,2, …, N-1,0,1,2, … (the timestamp is counted in a loop);
a3. offset count
Simultaneously recording that a CAN data packet of a certain frame has a starting time stamp and an exposure offset;
a4. duration of exposure
Respectively acquiring a frame time stamp sequence of a scanning system and a frame time stamp sequence of an articulated arm, wherein the scanning system works at a fixed exposure time, and then the frame data with the time stamp value of N is synchronized to obtain front and rear frame data with the key frame of the corresponding articulated arm being closest to N in value;
the precise duty ratio of the data defining the scanning system frame in the time range of the front and rear key frames of the joint arm is K, the front and rear key frames of the joint arm are respectively KeyFrameTime1, keyFrameTime2, the exposure time is SutterTime, the exposure Offset is Offset, the scanning system frame timestamp is ScannerFrameTime, the units of all the above-mentioned times are ms,
then the exact duty cycle
Preferably, the search strategy in the synchronization process is:
b1. if the output frame rate of the joint arm end is higher than the output frame rate of the scanning system, the scanning system data is used as a synchronous initial end, the joint arm end data is used as a synchronous destination end,
b2. if the output frame rate of the scanning system is higher than the output frame rate of the joint arm end, the joint arm end data is used as a synchronization initial end, and the scanning system data is used as a synchronization target end.
In both cases, the algorithm of synchronization is not changed, but the triggering mode of the synchronization operation is changed, and the synchronization triggering based on the scanning frame is changed into the synchronization triggering based on the articulated arm frame.
Preferably, the synchronization process further comprises loop detection, and thresholding is performed:
if the currently synchronized frame data contains data with a time stamp greater than N-m, wherein the value m is determined according to the lower frame rate of the joint arm and the scanning system;
if the absolute value of the timestamp KeyFrameTime2 of the arm key frame is smaller than the timestamp KeyFrameTime1, then +n processing is required for the timestamp KeyFrameTime2, and similarly, if the absolute value of the timestamp ScannerFrameTime of the scanning system frame is smaller than the timestamp KeyFrameTime1 of the arm key frame, +n processing is also required for the timestamp ScannerFrameTime.
In another aspect, the present invention also provides an optical scanner, which adopts the method for quickly synchronizing the time stamps based on the CAN communication as described above, wherein the optical scanner includes a measurement module and a communication module;
the measuring module comprises a plurality of joint arms, a plurality of movable joints and a scanning system, wherein the joint arms are sequentially arranged, adjacent joint arms are connected with each other through the movable joints, one end of the joint arm at the head end is connected to the fixed base, one end of the joint arm at the tail end is connected with the scanning system through the movable joints, and the scanning system is used for measuring the distance between an object to be measured and the scanning system;
the communication module is a CAN communication bus and is used for being in communication connection with the joint arm and the scanning system, the time stamp of the joint arm and the scanning system is synchronized by the communication time stamp data of the CAN communication bus, and the scanning data are unified in a coordinate system of a base of the joint arm, so that the scanning function is completed.
Preferably, the scanning system comprises a monocular camera and a line structure light projector, the line structure light projector projects line structure light onto the surface of the object to be measured, the monocular camera collects the image of the object to be measured with the line structure light, and the coordinates of points on the laser line under a camera coordinate system are calculated by using a laser triangulation method according to the relative position relationship between the monocular camera and the line structure light projector.
Preferably, the line structured light projector is a single line structured light projector.
Preferably, the scanning system comprises a binocular camera and a line structure light projector, the line structure light projector is a single line structure light projector or a multi-line structure light projector, the line structure light projector projects line structure light onto the surface of the object to be detected, the binocular camera collects the image of the object to be detected with the line structure light, and the coordinates of points on the laser line under a camera coordinate system are calculated by using a laser triangulation method according to the relative position relationship between the binocular camera and the line structure light projector.
Preferably, each of the movable joints is fitted with mutually perpendicular pivot angle sensors for measuring the position of the respective articulated arm and scanning system in space. The rotation center of each movable joint and the corresponding joint arm form a polar coordinate system, the rotation angle, namely the polar angle, is measured by the rotation angle sensor, the rotation center distance of the movable joints at two ends of the joint arm is the polar diameter length of the polar coordinates, namely the measuring module consists of a plurality of serially connected polar coordinate systems, when the scanning system measures a measured object, the optical scanner can give out the three-dimensional position information of the scanning system in space, and when the scanning system measures the measured object at different positions, the computer gives out the actual value of the measured parameter according to the established measuring mathematical model.
In this way, the optical scanner synchronizes the time stamp of the joint arm and the time stamp of the scanning system by communicating the time stamp data through the CAN communication bus, unifies the scanning data in the coordinate system of the joint arm base, and completes the scanning function.
Compared with the prior art, the method for quickly synchronizing the time stamps based on CAN communication and the optical scanner thereof have the following beneficial effects:
(1) According to the method for quickly synchronizing the time stamp based on CAN communication and the optical scanner thereof, the fact that exposure is a continuous process is considered, so that the scanning data of the laser scanning measuring head CAN be well synchronized into the coordinate system of the joint arm base;
(2) The method for quickly synchronizing the time stamps based on the CAN communication and the mechanism for synchronizing the time stamps based on the CAN of the optical scanner CAN realize the quick synchronization of the time stamps of the scanning head and the joint arm, and are more accurate;
(3) The method for quickly synchronizing the time stamps based on the CAN communication and the optical scanner thereof have the advantages of strong real-time performance and short development period through the time stamp data of the CAN communication.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a trigger synchronization flow chart of the present invention;
fig. 3 is a schematic diagram of a front view of an optical scanner according to the present invention.
Reference numerals illustrate:
1. a fixed base; 2. an articulated arm; 3. a scanning system; 15. and a communication module.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
Example 1
The method for quickly synchronizing the time stamps based on CAN communication is provided, as shown in figure 1, and comprises the following steps:
s1, placing an optical scanner at a corresponding position of a measured object;
s2, performing three-dimensional laser scanning to respectively acquire a time stamp of a scanning system of the optical scanner and time stamp data of the joint arm;
s3, forming a data packet by a CAN communication bus, and synchronizing the time stamp of the scanning system and the time stamp of the joint arm by the communication time stamp data of the CAN communication bus;
s4, synchronously obtaining the duty ratio data to carry out subsequent interpolation operation.
CAN is an abbreviation of Controller Area Network (hereinafter referred to as CAN), and is an ISO internationally standardized serial communication protocol. ISO11898 and ISO11519, standardized, are now standard protocols for automotive networks in europe. The CAN controller judges the bus level according to the potential difference of the two wires. The bus level is divided into a dominant level and a recessive level, and one of the dominant level and the recessive level is needed. The sender sends the message to the receiver by varying the bus level. And synchronizing the time stamp of the scanning system and the joint arm through CAN communication time stamp data, unifying the scanning data in a joint arm base coordinate system, and completing the scanning function.
The working process of synchronizing the time stamps of the scanning system and the joint arm by communicating time stamp data through the CAN communication bus is as follows:
timestamp synchronization is performed by a counter in the CAN packet:
a1. joint arm timestamp count with cycle count length N
The valid range of the timestamp counter for the timestamp in the articulated arm is 0,1,2, …, N-1,0,1,2, … (the timestamp is counted back in);
a2. scanning system time stamp count, cycle count length N
The valid range of the timestamp counter of the timestamp in the scanning system is also 0,1,2, …, N-1,0,1,2, … (the timestamp is counted in a loop);
a3. offset count
Simultaneously recording that a CAN data packet of a certain frame has a starting time stamp and an exposure offset;
a4. duration of exposure
Let us assume that we have a scanning system frame time stamp sequence and an articulated arm frame time stamp sequence, respectively:
scanning system frame timestamp sequences
| Timestamp ID | 107 | 113 | 120 | 126 | 132 | … |
| Offset amount | 0.2 | 0.3 | 0.1 | 0.2 | 0.2 | … |
Articulated arm frame time stamp sequence
| Timestamp ID | 105 | 108 | 112 | 115 | 118 | 121 | 124 | 128 | … |
Assuming that our scanning system is operating at a fixed exposure time of 0.5ms, this frame data synchronization with a timestamp value of 120 is as follows:
scanning system frame timestamp sequences
| Timestamp ID | 107 | 113 | 120 | 126 | 132 | … |
| Offset amount | 0.2 | 0.3 | 0.1 | 0.2 | 0.2 | … |
Articulated arm frame time stamp sequence
| Timestamp ID | 105 | 108 | 112 | 115 | 118 | 121 | 124 | 128 | … |
The key frames of our corresponding joint arms are easily available as two frames of data with time stamps 118, 121.
If the precise duty ratio of the data defining the scanning system frame in the time range of the front and rear key frames of the joint arm is K, the front and rear key frames of the joint arm are KeyFrameTime1, keyFrameTime2, exposure time is shifttime, exposure Offset is Offset, the scanning system frame timestamp is ScannerFrameTime, and note that the unit of all the above-mentioned times is ms.
Then the exact duty cycle
Taking the data of the scanning system frame time stamp 120 as an example,
K＝(120–118+0.1+0.5/2)/(121-118)＝0.7833 (1)
likewise, if data is present where the time stamp loops, then the following is the case:
scanning system frame timestamp sequences
| Timestamp ID | N-10 | N-6 | N-1 | 0 | 5 | … |
| Offset amount | 0.5 | 0.2 | 0.3 | 0.1 | 0.7 | … |
Articulated arm frame time stamp sequence
| Timestamp ID | N-5 | N-1 | 2 | 5 | 8 | 11 | 14 | 18 | … |
Taking the data of the scanning system frame time stamp N-1 as an example,
K＝(N-1–(N-1)+0.3+0.5/2)/(2+N-(N-1))＝0.1833 (2)
the searching strategy in the synchronization process is as follows:
b1. if the output frame rate of the joint arm end is higher than the output frame rate of the scanning system, the scanning system data is used as a synchronous original end, and the joint arm end data is used as a synchronous destination end.
Specifically, if 600 pieces of time stamp data are output per second by the joint arm end and 200 pieces of time stamp data are output per second by the scanning system, the joint arm frame is the synchronization destination end according to the scanning system frame as the synchronization original end.
b2. If the output frame rate of the scanning system is higher than the output frame rate of the joint arm end, the joint arm end data is used as a synchronization initial end, and the scanning system data is used as a synchronization target end.
Specifically, if 200 time stamp data are output per second at the joint arm end and 600 time stamp data are output per second at the scanning system, the frame of the scanning system is the synchronization destination end according to the joint arm frame as the synchronization original end.
In both cases, the algorithm of synchronization is not changed, but the triggering mode of the synchronization operation is changed, and the synchronization triggering based on the frame of the scanning system is changed into the synchronization triggering based on the frame of the articulated arm.
At the same time, we note that the synchronization process also includes loop detection, we use thresholding, if the currently synchronized frame data contains data with a timestamp greater than N-m (m is an empirical value, determined by the lower frame rate of the articulated arm and scanning system, we generally take 10),
if the absolute value of the timestamp KeyFrameTime2 of the arm key frame is smaller than the timestamp KeyFrameTime1, then +n processing is required for the timestamp KeyFrameTime2, and similarly, if the absolute value of the timestamp ScannerFrameTime of the scanning system frame is smaller than the timestamp KeyFrameTime1 of the arm key frame, +n processing is also required for the timestamp ScannerFrameTime.
Example two
Providing an optical scanner, which adopts the method of fast synchronization of the time stamp based on CAN communication as in the embodiment one, as shown in figure 3, wherein the optical scanner comprises a measuring module and a communication module 15;
the measuring module comprises a plurality of joint arms 2, a plurality of movable joints and a scanning system 3, wherein each joint arm 2 is arranged in sequence, adjacent joint arms 2 are connected with each other through the movable joints, one end of the joint arm 2 at the head end is connected to the fixed base 1, one end of the joint arm 2 at the tail end is connected with the scanning system 3 through the movable joints, and the scanning system 3 is used for measuring the distance between a measured object and the scanning system 3;
the communication module 15 is a CAN communication bus, and is configured to be in communication connection with the joint arm 2 and the scanning system 3, synchronize time stamps of the joint arm 2 and the scanning system 3 by communicating time stamp data through the CAN communication bus, and unify the scanning data in a coordinate system of a base of the joint arm, so as to complete a scanning function.
The scanning system comprises a monocular camera and a line structure light projector, the line structure light projector projects line structure light onto the surface of a measured object, the monocular camera collects images of the measured object with the line structure light, and the coordinates of points on a laser line under a camera coordinate system are calculated by using a laser triangulation method according to the relative position relationship between the monocular camera and the line structure light projector.
The line structured light projector is a single line structured light projector.
The scanning system comprises a binocular camera and a line structure light projector, wherein the line structure light projector is a single line structure light projector or a multi-line structure light projector, the line structure light projector projects line structure light onto the surface of a measured object, the binocular camera collects images of the measured object with the line structure light, and the coordinates of points on a laser line under a camera coordinate system are calculated by using a laser triangulation method according to the relative position relationship between the binocular camera and the line structure light projector.
Each movable joint is provided with a mutually perpendicular pivot angle sensor, and the pivot angle sensor is used for measuring the position of each joint arm and the scanning system in space. The rotation center of each movable joint and the corresponding joint arm form a polar coordinate system, the rotation angle, namely the polar angle, is measured by the rotation angle sensor, the rotation center distance of the movable joints at two ends of the joint arm is the polar diameter length of the polar coordinates, namely the measuring module consists of a plurality of serially connected polar coordinate systems, when the scanning system measures a measured object, the optical scanner can give out the three-dimensional position information of the scanning system in space, and when the scanning system measures the measured object at different positions, the computer gives out the actual value of the measured parameter according to the established measuring mathematical model.
In this way, the optical scanner in this embodiment synchronizes the timestamp of the joint arm and the timestamp of the scanning system by communicating the timestamp data through the CAN communication bus, unifies the scanning data in the joint arm base coordinate system, and completes the scanning function.
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications will fall within the scope of the invention.
Claims (8)
1. A method for quickly synchronizing timestamps based on CAN communication, comprising the steps of:
s1, placing an optical scanner at a corresponding position of a measured object;
s2, performing three-dimensional laser scanning to respectively acquire a time stamp of a scanning system of the optical scanner and time stamp data of the joint arm;
s3, forming a data packet by a CAN communication bus, and synchronizing the time stamp of the scanning system and the time stamp of the joint arm by the communication time stamp data of the CAN communication bus;
the working process of synchronizing the time stamps of the scanning system and the joint arm by communicating time stamp data through the CAN communication bus is as follows:
timestamp synchronization is performed by a counter in the CAN packet:
a1. joint arm timestamp count with cycle count length N
The valid range of timestamp counters for timestamps in the articulated arm is 0,1,2, …, N-1,0,1,2, …;
a2. scanning system time stamp count, cycle count length N
The valid range of the timestamp counter of the timestamp in the scanning system is also 0,1,2, …, N-1,0,1,2, …;
a3. offset count
Simultaneously recording that a CAN data packet of a certain frame has a starting time stamp and an exposure offset;
a4. duration of exposure
Respectively acquiring a frame time stamp sequence of a scanning system and a frame time stamp sequence of an articulated arm, wherein the scanning system works at a fixed exposure time, and then the frame data with the time stamp value of N is synchronized to obtain front and rear frame data with the key frame of the corresponding articulated arm being closest to N in value;
the precise duty ratio of the data defining the scanning system frame in the time range of the front and rear key frames of the joint arm is K, the front and rear key frames of the joint arm are respectively KeyFrameTime1, keyFrameTime2, the exposure time is SutterTime, the exposure Offset is Offset, the scanning system frame timestamp is ScannerFrameTime, the units of all the above-mentioned times are ms,
then the exact duty cycle
S4, synchronously obtaining the duty ratio data to carry out subsequent interpolation operation.
2. The method for rapid synchronization of CAN communication based timestamps according to claim 1, wherein the search strategy in the synchronization process is:
b1. if the output frame rate of the joint arm end is higher than the output frame rate of the scanning system, the scanning system data is used as a synchronous initial end, the joint arm end data is used as a synchronous destination end,
b2. if the output frame rate of the scanning system is higher than the output frame rate of the joint arm end, the joint arm end data is used as a synchronization initial end, and the scanning system data is used as a synchronization target end.
3. The method for quickly synchronizing the timestamps based on the CAN communication according to claim 2, wherein the synchronization process further comprises loop detection for thresholding:
if the currently synchronized frame data contains data with a time stamp greater than N-m, wherein the value m is determined according to the lower frame rate of the joint arm and the scanning system;
if the absolute value of the timestamp KeyFrameTime2 of the arm key frame is smaller than the timestamp KeyFrameTime1, then +n processing is required for the timestamp KeyFrameTime2, and similarly, if the absolute value of the timestamp ScannerFrameTime of the scanning system frame is smaller than the timestamp KeyFrameTime1 of the arm key frame, +n processing is also required for the timestamp ScannerFrameTime.
4. An optical scanner employing the method for rapid synchronization of CAN communication-based time stamps as set forth in any one of claims 1 to 3, characterized in that the optical scanner comprises a measurement module and a communication module;
the measuring module comprises a plurality of joint arms, a plurality of movable joints and a scanning system, wherein the joint arms are sequentially arranged, adjacent joint arms are connected with each other through the movable joints, one end of the joint arm at the head end is connected to the fixed base, one end of the joint arm at the tail end is connected with the scanning system through the movable joints, and the scanning system is used for measuring the distance between an object to be measured and the scanning system;
the communication module is a CAN communication bus and is used for being in communication connection with the joint arm and the scanning system, and the time stamp of the joint arm and the scanning system is synchronized by the communication of time stamp data through the CAN communication bus.
5. The optical scanner according to claim 4, wherein the scanning system comprises a monocular camera and a line structured light projector, the line structured light projector projects line structured light onto a surface of the object to be measured, the monocular camera collects an image of the object to be measured with the line structured light, and coordinates of points on the laser line in a camera coordinate system are calculated using a laser triangulation method based on a relative positional relationship between the monocular camera and the line structured light projector.
6. The optical scanner of claim 5, wherein the line structured light projector is a single line structured light projector.
7. The optical scanner according to claim 4, wherein the scanning system comprises a binocular camera and a line structure light projector, the line structure light projector is a single line structure light projector or a multi line structure light projector, the line structure light projector projects line structure light onto a surface of the object to be measured, the binocular camera collects an image of the object to be measured with the line structure light, and coordinates of points on a laser line under a camera coordinate system are calculated using a laser triangulation method according to a relative positional relationship between the binocular camera and the line structure light projector.
8. An optical scanner according to claim 6 or 7, wherein each of said movable joints is fitted with mutually perpendicular pivot angle sensors for measuring the position of the respective articulated arm and scanning system in space.
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| CN110967711A (en) * | 2018-09-28 | 2020-04-07 | 纳宝实验室株式会社 | Data acquisition method and system |
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