CN115540797A - Sensing data processing method - Google Patents

Abstract

The embodiment of the disclosure provides a sensing data processing method, which includes: arranging a rotary table which can rotate along the central rotating shaft; fixing the device equipped with the position sensor at a non-central point position on the turntable; setting a test disc for simulating a plane to be tested; fixing the device equipped with the position sensor on any position of the test disc; taking any three positions of the test disc except the position for fixing the device provided with the position sensor as three test points; aiming at each test point, the following steps are respectively executed: the testing point is overlapped with the central rotating shaft of the rotary table, the rotary table is rotated along the central rotating shaft, and the position parameter output by the position sensor is recorded; fitting the position parameters to obtain a fitted circular motion path; fitting a circular motion path according to each of the at least three test points; the intersection points of the three fitted circular motion paths of the three test points are determined as the projected points on the test disc.

Description

Sensing data processing method

Technical Field

The application provides a data processing method, in particular to a sensing data processing method.

Background

Since a spatial position sensor can acquire a position parameter of a sensor, a device using the position sensor has become widespread. In most position sensing applications, it is not necessary to obtain the specific position of the data center point of the position sensor in the sensing device. However, for an apparatus that needs to rotate around a data center point arbitrarily in an application, only the rotation amount is generally changed, and the position amount is not changed, so as to function like an axis. The rotation may be planar rotation or omnidirectional rotation.

The position sensor can read out the spatial position information, and the function of the position sensor is to truly reproduce the movement/rotation of the camera. In the prior art, position sensors of different brands or different models can be related to a camera, so that the position sensors of different brands or different models must be cooperatively corrected, so that the angle of rotating a real camera is consistent with the sensing angle of the sensor introduced into the system. If the sensor position cannot be aligned with the camera optical center position, rotating the camera through the optical center does not bring any displacement but the sensor brings not only the amount of rotation but also the amount of displacement.

In the prior art, the spatial position cannot correspond to the physical position of the equipment equipped with the position sensor without correction. In the prior art, a back-stepping method can be used for determining the central point of the sensing data of the position sensor, but the method has the obvious defect that the cost is high.

Disclosure of Invention

The application provides a sensing data processing method which is used for jointly correcting a plurality of position sensors of different brands or different models to determine a central point between the plurality of position sensors.

In order to achieve the above object, an embodiment of the present application provides a sensing data processing method, including:

arranging a rotary table which can rotate along the central rotating shaft; fixing the equipment equipped with the position sensor at a non-central point position on the rotary table;

setting a test disc for simulating a plane to be tested; fixing the equipment provided with the position sensor on any position of the test disc;

taking any three positions of the test disc except the position for fixing the device provided with the position sensor as three test points; aiming at each test point, the following steps are respectively executed: the testing point is overlapped with the central rotating shaft of the rotary table, the rotary table is rotated along the central rotating shaft, and the position parameter output by the position sensor is recorded; fitting the position parameters, and fitting a circular motion path of the position sensor;

obtaining a fitted circular motion path of at least three test points according to the previous steps; the intersection of the three fitted circular paths of motion of the three test points is determined as the projected point of the device equipped with a position sensor on the test disc.

Wherein the device equipped with position sensors is fixed to the surface of the test tray by means of a cement.

The beneficial effects of the above technical scheme of this application are as follows: the measured position sensor projection point obtained through final calculation is projected onto the white paper through the binding relation between the test disc and the measured position sensors, which is equivalent to a rigid body. The process of applying the projection point is to apply the white paper and the sensor to an application scene at the same time, and the application process can be to align the rotation center to the projection point of the white paper, and the rotation axis is perpendicular to the paper surface, so that the rotation does not bring the displacement of the sensor.

Drawings

FIG. 1 is a schematic diagram of an apparatus for testing a test method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a path of motion that fits a circle;

fig. 3 is a schematic diagram of three projected points obtained by fitting circular motion paths.

Detailed Description

To make the technical problems, technical solutions and advantages to be solved by the present application clearer, the following detailed description is made with reference to the accompanying drawings and specific embodiments.

In order to determine the specific position of the sensor data center point on the device entity which is specially provided with the sensor, the invention provides an engineering method which can project the sensor data center point to a specified plane. And effective intermediate assistance is provided for further calculating the specific position of the projection point in the equipment entity.

In the prior art, position sensors of different brands or different models may be associated with a camera, the position sensors can read spatial position information, and the position sensors can truly reproduce the movement/rotation of the camera; therefore, position sensors of different brands or different models must be cooperatively calibrated so that the angle of rotation of the real camera coincides with the sensing angle of the sensor introduced into the system. If the sensor position cannot be aligned with the camera optical center position, the camera cannot be brought into any displacement by rotating the optical center but the sensor is brought into not only the rotation amount but also the displacement amount.

In the prior art, the spatial position cannot be physically corresponded to the device equipped with the position sensor without correction. In the prior art, a back-stepping method can be used for determining the central point of the sensing data of the position sensor, but the method has the obvious defect that the cost is high.

Specifically, as shown in fig. 1, a turntable 1 is provided, and the turntable 1 can rotate along a central rotating shaft; the device 2 equipped with the position sensor is fixed at a non-central point position on the turntable. Wherein the turntable 1 is provided with a central rotating shaft, so that the central point of the turntable 1 can be easily determined. A test tray 3 (which may be, for example, a sheet of A4 paper) is provided for simulating the plane to be measured. Fixing the device 2 equipped with the position sensor at an arbitrary position on the test tray; the device 2 equipped with position sensors can be fixed to the test tray, for example, with cement or the like. Then, three test points 4 are provided at any three positions of the test tray except for the position for fixing the position sensor equipped device 2, to test three position sensors, respectively. Of course, more test points 4 can be provided, as long as at least one test point is provided for each position sensor. The working principle is as follows: the test disc 3 (which may be a plain paper as an example) and the measured position sensors are in a rigid binding relationship, and the finally calculated projection points of the measured position sensors are projected onto the plain paper. The process of applying the projection point is to apply the white paper and the sensor to an application scene at the same time, and the application process can be to align the rotation center to the projection point of the white paper, wherein the rotation axis is vertical to the paper surface, and the rotation can not bring the displacement of the sensor.

As shown in fig. 1 to fig. 3, for each test point 4, the following steps are respectively performed:

the testing point is coincided with the central rotating shaft position of the rotary table 1, the rotary table 1 is rotated along the central rotating shaft 3, and the position parameter output by the position sensor is recorded; these position parameters are fitted to obtain a fitted circular motion path of the position sensor as shown in fig. 2. In the practice of the present disclosure, the turntable 1 needs to rotate at least one revolution to obtain the position parameters 10 for fitting the position sensor output as described in the circular motion path shown in fig. 2. Therefore, the number of turns of the turntable 1 can be determined through a plurality of tests, and the embodiment of the disclosure is not limited thereto.

Wherein each test point 4 may be a position sensor, and the position sensors may be position sensors of different brands or different models.

According to the previous steps a fitted circular movement path 5 of at least three test points 4 is obtained, wherein the circular movement path 5 has a fitted radius 6. This allows the intersection 7 of the three fitted circular paths of motion 5 of the three test points 4 to be determined as the projected point of the position sensor equipped device 2 on the test disc 3, as shown in fig. 3.

The example shown in fig. 3 is a total of three tests performed on the test disc 3, i.e. for three test points: the test point 31, the test point 32 and the test point 33 are tested for three times respectively; three fitted circular motion paths are obtained: a fitted circular motion path 51, a fitted circular motion path 52, and a fitted circular motion path 53; the projection radii of the three fitting circular motion paths are radius 61, radius 62 and radius 63 respectively.

For the application that the position of the data center point of the position sensor needs to be determined in the equipment entity, the technical scheme of the embodiment of the disclosure provides an effective engineering method for acquiring and calculating the projection point of the sensor on the designated plane.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application. It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (2)

1. A method of processing sensed data, comprising:

arranging a rotary table which can rotate along the central rotating shaft; fixing the equipment equipped with the position sensor at a non-central point position on the rotary table;

setting a test disc for simulating a plane to be tested; fixing the equipment provided with the position sensor on any position of the test disc;

taking any three positions of the test disc except the position for fixing the device provided with the position sensor as three test points; aiming at each test point, the following steps are respectively executed: the testing point is overlapped with the central rotating shaft of the rotary table, the rotary table is rotated along the central rotating shaft, and the position parameter output by the position sensor is recorded; fitting the position parameters, and fitting a circular motion path of the position sensor;

obtaining a fitted circular motion path of at least three test points according to the previous steps; the intersection of the three fitted circular paths of motion of the three test points is determined as the projected point of the device equipped with a position sensor on the test disc.

2. The method of claim 1, wherein the device equipped with position sensors is fixed to the surface of the test tray by means of a cement.

Images