CN113791646A - Road side intelligent holder multi-sensor fusion control method and equipment - Google Patents
Road side intelligent holder multi-sensor fusion control method and equipment Download PDFInfo
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- CN113791646A CN113791646A CN202110935814.4A CN202110935814A CN113791646A CN 113791646 A CN113791646 A CN 113791646A CN 202110935814 A CN202110935814 A CN 202110935814A CN 113791646 A CN113791646 A CN 113791646A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000004927 fusion Effects 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 238000001914 filtration Methods 0.000 claims abstract description 8
- 230000001133 acceleration Effects 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 6
- 238000012986 modification Methods 0.000 abstract 1
- 230000004048 modification Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
Abstract
The invention relates to a method and a device for controlling the fusion of a plurality of sensors of a roadside intelligent holder, wherein the method comprises the following steps: 1) initializing a holder sensor; 2) the method comprises the steps that six-axis acceleration and angular velocity data of a holder are detected and obtained in real time through an inertia measurement unit arranged at the top of the holder, and Kalman filtering integral filtering noise is carried out on the six-axis acceleration and angular velocity data to obtain attitude angle data of the holder; 3) detecting the angle data of the holder in real time through an angle sensor arranged at a rotating motor of the holder, and obtaining the final angle data of the holder by combining the detection result of a limit switch; 4) and fusing the attitude angle data of the holder and the final angle data of the holder and then sending the fused data to a remote host to realize the accurate control of the holder angle. Compared with the prior art, the invention has the advantages of accurate control of the angle of the holder, real-time attitude feedback, convenient modification and the like.
Description
Technical Field
The invention relates to the field of tripod head control, in particular to a method and equipment for fusion control of multiple sensors of a roadside intelligent tripod head.
Background
At present, the cloud platform of drive test is used for video monitoring mostly, need not accurate control rotation angle, and general cloud platform does not have the angle control function basically in the existing market, even have angle control, also estimate turned angle through motor rotation rate, angle control accuracy is not high, can't satisfy autopilot's requirement, for guaranteeing sensor data correctness on the cloud platform, the accurate control that the cloud platform need guarantee self angle is within 0.5 degree, still need the attitude information of sensor on the cloud platform of real-time feedback simultaneously etc..
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a method and equipment for controlling the fusion of multiple sensors of a roadside intelligent holder.
The purpose of the invention can be realized by the following technical scheme:
a multi-sensor fusion control method for a roadside intelligent holder comprises the following steps:
1) initializing a holder sensor;
2) the method comprises the steps that six-axis acceleration and angular velocity data of a holder are detected and obtained in real time through an inertia measurement unit arranged at the top of the holder, and Kalman filtering integral filtering noise is carried out on the six-axis acceleration and angular velocity data to obtain attitude angle data of the holder;
3) detecting the angle data of the holder in real time through an angle sensor arranged at a rotating motor of the holder, and obtaining the final angle data of the holder by combining the detection result of a limit switch;
4) and fusing the attitude angle data of the holder and the final angle data of the holder and then sending the fused data to a remote host to realize the accurate control of the holder angle.
In the step 2), the attitude angle data of the holder only comprises a roll angle and a pitch angle.
In the step 4), the holder angle data includes a horizontal angle and a vertical angle.
The inertial measurement unit adopts six-axis inertial navigation.
The step 3) is specifically as follows:
after the horizontal angle and the vertical angle of the holder are obtained through the angle sensor, if the holder triggers the limit switch in motion, the actual installation angle corresponding to the limit switch is used as the final angle data of the holder, otherwise, the angle detected by the angle sensor is used as the final angle data of the holder.
And 4), in the step 4), the final horizontal angle of the holder is used as the steering angle of the holder, and the final horizontal angle is used as the final attitude angle data to be sent to the remote host computer in combination with the roll angle and pitch angle data detected by the inertia measurement unit, so that the accurate control of the holder angle is realized.
The angle sensor comprises a Hall encoder, a photoelectric encoder and a potentiometer.
The angle sensor is respectively arranged at the position of the pitching motor and the position of the horizontal motor of the holder.
The limit switch comprises a mechanical switch, an electromagnetic switch and a photoelectric switch, and the installation position is determined according to actual requirements.
A detection apparatus, comprising: the system comprises a processor, a memory, and one or more programs stored in the memory, the one or more programs including instructions for performing a roadside intelligent pan-tilt multi-sensor fusion detection method.
Compared with the prior art, the invention has the following advantages:
firstly, because the angle of the existing tripod head is obtained by detecting the rotation time of a motor and multiplying the rotation speed of the motor, the data obtained during detection is not accurate, but the angle is directly detected by an angle sensor and more accurately obtained by matching with a limit switch.
And secondly, real-time attitude feedback, the method is suitable for a common holder, and the same function can be realized by additionally arranging a sensor.
Drawings
Fig. 1 is a schematic view of a holder structure with an angle sensor and a limit switch.
FIG. 2 is a flow chart of the method of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
As shown in figure 1, in order to realize the multi-sensor fusion detection in the intelligent cloud platform, an Inertial Measurement Unit (IMU) is installed at the top of the existing cloud platform, an angle sensor is respectively installed at the position of a horizontal motor and a pitching motor of the cloud platform, and meanwhile, a limit switch is installed on a rotating transmission gear.
In this example, the cradle head can adopt different structures and different motors, the specific structure can be that two motors drive each self-rotating gear to drive the cradle head to rotate, and if the cradle head posture is not needed, the IMU can not be installed.
The angle sensor includes, but is not limited to, a hall encoder, a photoelectric encoder, a potentiometer, etc.
The limit switch comprises but is not limited to a mechanical switch, an electromagnetic switch, a photoelectric switch and the like, and the installation position is determined according to actual requirements.
As shown in fig. 2, the invention provides a method for controlling a roadside intelligent pan head multi-sensor fusion, which is used for realizing accurate control and real-time attitude feedback of an intelligent pan head for adjusting the attitude of a vehicle-road cooperative networking device, and the specific flow is described as follows:
after initialization, the detected angle data are divided into two parts, namely attitude data and angle data, the two parts of data are fused to obtain final attitude angle data (including a steering angle, a roll angle and a pitch angle) and transmitted to a remote host, and accurate control (within 0.5 degree of accuracy) of a horizontal motor and a pitch motor of the holder is realized.
For the attitude of the pan/tilt head, mainly depending on an inertial measurement unit IMU (in this example, six-axis inertial navigation), firstly, acquiring six-axis acceleration and angular velocity data through the IMU, and finally obtaining the attitude angle (including a roll angle and a pitch angle) of the pan/tilt head after kalman filtering, integrating and filtering noise.
For the cloud platform angle, mainly rely on angle sensor and limit switch, at first acquire angle information through angle sensor, multiply the magnification again, reachd the cloud platform angle, still need detect the cloud platform simultaneously and whether touch limit switch in the motion, if touch, then the cloud platform angle should be limit switch actual installation angle, finally reachs cloud platform angle (horizontal angle and vertical angle).
And finally, combining a roll angle and a pitch angle measured by the inertial measurement unit IMU and a horizontal angle which is measured by the angle sensor and the limit switch and is used as a steering angle, obtaining a final attitude angle and sending the final attitude angle to the remote host to complete angle control.
Claims (10)
1. A roadside intelligent holder multi-sensor fusion control method is characterized by comprising the following steps:
1) initializing a holder sensor;
2) the method comprises the steps that six-axis acceleration and angular velocity data of a holder are detected and obtained in real time through an inertia measurement unit arranged at the top of the holder, and Kalman filtering integral filtering noise is carried out on the six-axis acceleration and angular velocity data to obtain attitude angle data of the holder;
3) detecting the angle data of the holder in real time through an angle sensor arranged at a rotating motor of the holder, and obtaining the final angle data of the holder by combining the detection result of a limit switch;
4) and fusing the attitude angle data of the holder and the final angle data of the holder and then sending the fused data to a remote host to realize the accurate control of the holder angle.
2. The method for fusion control of multiple sensors of an intelligent roadside tripod head according to claim 1, wherein in the step 2), the attitude angle data of the tripod head only comprises a roll angle and a pitch angle.
3. The method for fusion control of multiple sensors of an intelligent roadside tripod head according to claim 1, wherein in the step 4), the tripod head angle data comprises a horizontal angle and a vertical angle.
4. The method for fusion control of multiple sensors of an intelligent roadside tripod head according to claim 1, wherein the inertial measurement unit employs six-axis inertial navigation.
5. The method for fusion control of multiple sensors of a roadside intelligent tripod head according to claim 3, wherein the step 3) is specifically as follows:
after the horizontal angle and the vertical angle of the holder are obtained through the angle sensor, if the holder triggers the limit switch in motion, the actual installation angle corresponding to the limit switch is used as the final angle data of the holder, otherwise, the angle detected by the angle sensor is used as the final angle data of the holder.
6. The method for fusion control of multiple sensors of an intelligent roadside tripod head according to claim 5, wherein in the step 4), the final horizontal angle of the tripod head is used as the steering angle of the tripod head, and the final horizontal angle is used as the roll angle and pitch angle data detected by the inertial measurement unit and is sent to the remote host as the final attitude angle data, so as to realize the precise control of the angle of the tripod head.
7. The method for controlling the fusion of the multiple sensors of the intelligent pan-tilt at the roadside of claim 1, wherein the angle sensor comprises a hall encoder, a photoelectric encoder and a potentiometer.
8. The method for fusion control of multiple sensors of a roadside intelligent tripod head according to claim 7, wherein the angle sensors are respectively installed at the positions of a pitching motor and a horizontal motor of the tripod head.
9. The method for fusion control of multiple sensors of a roadside intelligent tripod head according to claim 1, wherein the limit switches comprise mechanical switches, electromagnetic switches and photoelectric switches, and the installation positions are determined according to actual requirements.
10. A detection apparatus, comprising: a processor, a memory, and one or more programs stored in the memory, the one or more programs including instructions for performing the method of roadside intelligent tripod head multisensor fusion detection of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110935814.4A CN113791646A (en) | 2021-08-16 | 2021-08-16 | Road side intelligent holder multi-sensor fusion control method and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110935814.4A CN113791646A (en) | 2021-08-16 | 2021-08-16 | Road side intelligent holder multi-sensor fusion control method and equipment |
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| Publication Number | Publication Date |
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| CN113791646A true CN113791646A (en) | 2021-12-14 |
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| CN202110935814.4A Pending CN113791646A (en) | 2021-08-16 | 2021-08-16 | Road side intelligent holder multi-sensor fusion control method and equipment |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201803063U (en) * | 2010-07-20 | 2011-04-20 | 周惠兴 | Two-degree-of-freedom pan/tilt/zoom mechanism |
| CN106569512A (en) * | 2016-11-04 | 2017-04-19 | 极翼机器人(上海)有限公司 | Holder calibration method |
| CN108700252A (en) * | 2017-04-21 | 2018-10-23 | 深圳市大疆灵眸科技有限公司 | The control method and holder of holder |
-
2021
- 2021-08-16 CN CN202110935814.4A patent/CN113791646A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201803063U (en) * | 2010-07-20 | 2011-04-20 | 周惠兴 | Two-degree-of-freedom pan/tilt/zoom mechanism |
| CN106569512A (en) * | 2016-11-04 | 2017-04-19 | 极翼机器人(上海)有限公司 | Holder calibration method |
| CN108700252A (en) * | 2017-04-21 | 2018-10-23 | 深圳市大疆灵眸科技有限公司 | The control method and holder of holder |
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