CN115574769A - Automatic target pose detection system - Google Patents

Automatic target pose detection system Download PDF

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Publication number
CN115574769A
CN115574769A CN202211202997.XA CN202211202997A CN115574769A CN 115574769 A CN115574769 A CN 115574769A CN 202211202997 A CN202211202997 A CN 202211202997A CN 115574769 A CN115574769 A CN 115574769A
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laser
target
laser ranging
space
ranging device
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张佳棣
林金城
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Xiamen Richen Science & Technology Co ltd
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Xiamen Richen Science & Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses an automatic target pose detection system, which comprises a spatial positioning device, a laser ranging device, a target assembly and a control device, wherein the laser ranging device is arranged on the spatial positioning device; the target to be measured is positioned in the range of the laser ranging device; the control device is respectively in communication connection with the space positioning device, the laser ranging device and the target assembly; the control device is used for driving the space positioning device; when laser emitted by the laser ranging device irradiates the target assembly, a laser rotation matrix of the laser ranging device relative to the original point of the original coordinate system of the space to be measured and the distance of the laser ranging device relative to the target assembly are obtained, and the space coordinate of the target to be measured is calculated. The invention can realize the automatic detection of the space pose and can improve the accuracy and the repeatability of the detection of the space pose.

Description

Automatic target pose detection system
Technical Field
The invention relates to the technical field of space pose detection, in particular to an automatic target pose detection system.
Background
The spatial pose describes the position (X/Y/Z) and attitude angle (Roll/Pitch/Yaw) of an object in a specified three-dimensional spatial coordinate system. The detection of the spatial pose is an important link and is widely applied to the fields of robot control, industrial manufacturing and the like. The sensor is abundant in type and diverse in function, and is an important tool for acquiring external environment information. In an industrial manufacturing scene needing accurate positioning of the target, pose detection is achieved through information provided by the sensor, and an important role is played gradually in error elimination of station equipment.
However, at present, a considerable part of pose detection and error elimination depends on manual completion. Taking the calibration scene of the off-line sensor of the whole automobile as an example, the calibration of the sensor requires that the calibration target is in the designated pose of the station; in the prior practice, a large calibration sample frame or a laser tracker/total station is mostly used for realizing the calibration work of the position and the pose of the calibration target. However, the method depends on manual operation, visual identification and calculation, and theoretically reduces the reliability of pose detection, so that the reliability of a calibration station is reduced. Moreover, although the laser tracker has high repeatability precision, the popularization rate of the laser tracker is limited by high price of the laser tracker, most detection stations cannot be provided with the device, and the calibration of the pose of the calibration target can be completed only by adopting a large calibration sample rack which needs a large amount of manual intervention and is difficult to operate.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the automatic target pose detection system can realize reliable automatic target pose detection.
In order to solve the technical problems, the invention adopts the technical scheme that: an automatic target pose detection system comprises a space positioning device, a laser ranging device, a target assembly and a control device, wherein the laser ranging device is arranged on the space positioning device, and the target assembly is arranged on a target to be detected; the target to be measured is positioned in the range of the laser ranging device; the control device is respectively in communication connection with the space positioning device, the laser ranging device and the target assembly;
the laser ranging device is used for emitting laser and ranging;
the target assembly is used for judging whether the laser emitted by the laser ranging device irradiates on the target assembly;
the space positioning device is used for driving the laser ranging device to move and rotate in a space to be measured;
the control device is used for driving the space positioning device so as to enable the laser emitted by the laser ranging device to irradiate the target assembly;
the control device is further used for acquiring a laser rotation matrix of the laser ranging device relative to an original point of an original coordinate system of a space to be measured and a distance of the laser ranging device relative to the target assembly when laser emitted by the laser ranging device irradiates the target assembly, and calculating a space coordinate of a target to be measured according to the laser rotation matrix and the distance.
The invention has the beneficial effects that: the system can realize fully-automatic pose detection, avoid manual participation in pose identification and calculation processes, improve the accuracy and repeatability of integral detection, and allow an integral station to carry out quantitative detection on all targets to be detected in a short time; meanwhile, the equipment cost is low, and the equipment popularization rate can be improved, so that the automation level of stations and the detection repeatability precision are improved.
Drawings
Fig. 1 is a schematic structural diagram of an automated target pose detection system according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automated target pose detection system according to a second embodiment of the present invention.
Description of reference numerals:
1. a spatial positioning device; 2. a laser ranging device; 3. a target assembly; 4. an attitude angle sensor;
31. a camera device; 32. a target;
321. and (4) feature points.
Detailed Description
In order to explain the technical contents, the objects and the effects of the present invention in detail, the following description is made in conjunction with the embodiments and the accompanying drawings.
Referring to fig. 1, an automatic target pose detection system includes a spatial positioning device, a laser ranging device, a target assembly and a control device, wherein the laser ranging device is disposed on the spatial positioning device, and the target assembly is disposed on a target to be detected; the target to be measured is positioned in the range of the laser ranging device; the control device is respectively in communication connection with the space positioning device, the laser ranging device and the target assembly;
the laser ranging device is used for emitting laser and ranging;
the target assembly is used for judging whether the laser emitted by the laser ranging device irradiates on the target assembly;
the space positioning device is used for driving the laser ranging device to move and rotate in the space to be measured;
the control device is used for driving the space positioning device so as to enable the laser emitted by the laser ranging device to irradiate the target assembly;
the control device is further used for acquiring a laser rotation matrix of the laser ranging device relative to an original point of an original coordinate system of a space to be measured and a distance of the laser ranging device relative to the target assembly when laser emitted by the laser ranging device irradiates the target assembly, and calculating a space coordinate of a target to be measured according to the laser rotation matrix and the distance.
From the above description, the beneficial effects of the present invention are: the automatic detection of the space pose can be realized, and the accuracy and the repeatability of the detection of the space pose can be improved.
Further, the control device is specifically configured to:
when laser emitted by the laser ranging device irradiates the target assembly, acquiring a first rotation matrix of a base of the space positioning device relative to an original point of an original coordinate system of a space to be measured, a second rotation matrix of an installation position of the laser ranging device on the space positioning device relative to the base of the space positioning device and a third rotation matrix of the laser ranging device relative to an installation position of the laser ranging device on the space positioning device;
calculating a laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured according to the first rotation matrix, the second rotation matrix and the third rotation matrix;
acquiring the distance, relative to the target assembly, of the laser ranging device output by the laser ranging device, and acquiring a translation matrix according to the distance;
and calculating the space coordinate of the target to be measured according to the laser rotation matrix and the translation matrix.
According to the description, the laser rotation matrix can be decomposed into a first rotation matrix of the base of the space positioning device relative to the original point, a second rotation matrix of the installation position of the laser ranging device on the space positioning device relative to the base of the space positioning device and a third rotation matrix of the laser ranging device relative to the installation position, the laser rotation matrix of the laser ranging device relative to the original point can be obtained by cross multiplying the three rotation matrices, and then the translation matrix output by the laser ranging device is cross multiplied, so that the space coordinate of the target to be measured can be determined.
Furthermore, characteristic points are arranged on the target assembly; the target assembly is further used for collecting laser points irradiated on the target assembly when the laser emitted by the laser ranging device is irradiated on the target assembly, and calculating the coordinate relation between the laser points and the characteristic points;
the control device is specifically configured to:
driving the space positioning device to perform coarse positioning so that laser emitted by the laser ranging device irradiates the target assembly;
when the laser emitted by the laser ranging device irradiates the target assembly, the space positioning device is driven to perform accurate positioning according to the coordinate relation, so that the laser emitted by the laser ranging device irradiates the characteristic point;
when laser emitted by the laser ranging device irradiates on a characteristic point on the target component, a laser rotation matrix of the laser ranging device relative to the original point of an original coordinate system of a space to be measured and the distance of the laser ranging device relative to the target are obtained, and the space coordinate of the target to be measured is calculated according to the laser rotation matrix and the distance.
According to the description, the laser ranging matrix can accurately irradiate the target assembly by setting the characteristic points; by performing rough positioning and then performing precise positioning, the efficiency of laser aiming at the characteristic points can be improved.
Furthermore, a characteristic point is arranged on the target component; the device also comprises an attitude angle sensor, wherein the attitude angle sensor is arranged on the target to be measured; the attitude angle sensor is used for acquiring the attitude angle of the target to be measured.
Further, the attitude angle sensor is a multi-dimensional inclinometer.
As can be seen from the above description, by setting a feature point, the spatial coordinates of the target to be measured can be determined by aiming the laser ranging device at the feature point; by arranging the attitude angle sensor, the attitude angle of the target to be detected can be directly obtained.
Furthermore, at least three feature points are arranged on the target assembly, the at least three feature points comprise a first feature point, a second feature point and a third feature point, and the first feature point, the second feature point and the third feature point are not on the same straight line;
the control device is used for:
driving the space positioning device to enable the laser emitted by the laser ranging device to sequentially irradiate a first characteristic point, a second characteristic point and a third characteristic point on the target assembly;
when laser emitted by the laser ranging device irradiates a first characteristic point on the target assembly, acquiring a first laser rotation matrix of the laser ranging device relative to an original point of an original coordinate system of a space to be measured and a first distance of the laser ranging device relative to the target assembly, and calculating a first space coordinate of a target to be measured according to the first laser rotation matrix and the first distance;
when laser emitted by the laser ranging device irradiates a second characteristic point on the target assembly, acquiring a second laser rotation matrix of the laser ranging device relative to the origin of an original coordinate system of a space to be measured and a second distance of the laser ranging device relative to the target assembly, and calculating a second space coordinate of the target to be measured according to the second laser rotation matrix and the second distance;
when laser emitted by the laser ranging device irradiates a third characteristic point on the target assembly, acquiring a third laser rotation matrix of the laser ranging device relative to the origin of an original coordinate system of a space to be measured and a third distance of the laser ranging device relative to the target assembly, and calculating a third space coordinate of a target to be measured according to the third laser rotation matrix and the third distance;
and fitting a space plane equation according to the first space coordinate, the second space coordinate and the third space coordinate, and calculating a normal vector of a plane corresponding to the space plane equation to obtain the attitude angle of the target to be measured.
According to the above description, the attitude angle of the target to be measured is obtained by setting the three feature points and solving the normal vector of the plane where the three feature points are located, so that an attitude angle sensor does not need to be additionally arranged, and the equipment cost is further saved.
Furthermore, the target assembly comprises a camera device and a target, and the target is arranged on the target to be measured and is positioned in the shooting visual field range of the camera device; the camera device is in communication connection with the control device;
the camera device is used for shooting the target in real time and judging whether the laser emitted by the laser ranging device irradiates on the target.
Further, the camera device is arranged on the space positioning device.
According to the description, the camera device can shoot the target in real time, whether the laser emitted by the laser ranging device irradiates the target or not can be judged by analyzing the shot image, the laser point irradiated on the target by the laser ranging device can be collected when the laser emitted by the laser ranging device irradiates the target, and the coordinate relation between the laser point and the characteristic point is calculated.
Further, the target assembly is a PSD sensor.
As can be seen from the above description, the PSD sensor itself can realize the detection of the laser spot, and thus, an imaging device may not be required.
Further, the spatial positioning device comprises a mechanical arm; the laser distance measuring device is a laser distance measuring instrument.
Example one
Referring to fig. 1, a first embodiment of the present invention is: an automatic target pose detection system can be applied to scenes in which a detected target needs to be accurately positioned.
As shown in fig. 1, the device comprises a space positioning device 1, a laser ranging device 2, a target assembly 3 and a control device (not shown in the figure), wherein the laser ranging device 2 is arranged on the space positioning device 1, the target assembly 3 is arranged on a target to be measured, and the target to be measured is located within the range of the laser ranging device 2; the control device is respectively connected with the space positioning device 1, the laser distance measuring device 2 and the target assembly 3 in a communication mode.
The space positioning device is a high-precision space positioning device, and refers to a device capable of performing high-precision positioning on the designated position and the attitude of a mounted object in space in an automatic control mode, and the device comprises but is not limited to a high-precision three-axis mechanical arm and high-precision holder combination, a six-axis industrial robot, a six-axis cooperative robot and the like.
The laser distance measuring device refers to a device which can obtain the distance from the laser to the target by using visible laser, and includes but is not limited to a laser distance measuring instrument and the like.
A target assembly, which is a device or a sensor that can capture and output the plane coordinates of the laser spot irradiated thereon; including but not limited to industrial cameras in combination with targets with visual features, light sensitive sensors PSD, etc.; the target assembly is used for ensuring that the space positioning device and the laser ranging device can measure the space positioning device and the laser ranging device at the same appointed position each time.
In this embodiment, the space positioning device 1 is a mechanical arm, and the laser ranging device 2 is disposed at the end of the mechanical arm (i.e., the end of the base far away from the mechanical arm, i.e., the flange plate at the end of the wrist joint of the mechanical arm). The space positioning device 1 can drive the laser ranging device 2 to move and rotate in the space to be measured, and the laser ranging device 2 can emit laser and measure the distance.
The target assembly 3 includes an image pickup device 31 and a target 32, the target 32 is disposed on the target to be measured, the image pickup device 31 can be deployed at any position within the effective working range of the visual field, that is, the target 32 is located within the visual field of the image pickup device 31. Preferably, the camera device 31 is also arranged at the end of the spatial positioning device 1 (i.e. the robot arm); the control device is communicatively connected to the camera device 31 in the target assembly 3.
Further, the target 32 is provided with a characteristic point 321, and the imaging device 31 can image the surface of the target 32 on which the characteristic point 321 is provided. Preferably, a visual feature pattern, such as a black and white checkerboard, a cross mark, etc., is provided on the target, and then a feature point is determined in the visual feature pattern, for example, a center point of the visual feature pattern is used as the feature point. The target may be in the form of a plane or in the form of a sphere or other shape.
The camera device 31 can shoot the target in real time, can judge whether the laser emitted by the laser ranging device 2 irradiates the target 32 or not by analyzing the shot image, and can collect the laser point irradiated on the target 32 by the laser ranging device 2 and calculate the coordinate relation between the laser point and the characteristic point when the laser emitted by the laser ranging device 2 irradiates the target 32.
The control device may drive the spatial positioning device 1 to irradiate the laser beam emitted from the laser ranging device 2 onto the characteristic point 321 of the target 32. The process of driving the space positioning device by the control device can be divided into two steps of coarse positioning and precise positioning, and specifically, the control device drives the space positioning device to perform coarse positioning first so as to enable laser emitted by the laser ranging device to irradiate a target; in this embodiment, the course positioning process includes, but is not limited to, programmed waypoint movement, linear movement, or joint movement. When the laser irradiates the target, the camera device collects the laser point irradiated on the target by the laser ranging device, calculates the coordinate relation between the laser point and the characteristic point and outputs the coordinate relation to the control device. The control device can drive the space positioning device to perform accurate positioning according to the coordinate relation so as to enable the laser emitted by the laser ranging device to irradiate the characteristic points; in this embodiment, the precise positioning process includes, but is not limited to, performing direct positioning or performing PID control positioning according to a coordinate relationship.
When the laser emitted by the laser ranging device 2 irradiates the feature point 321 on the target 32, the control device may obtain a laser rotation matrix of the laser ranging device 2 relative to an origin of an original coordinate system of the space to be measured and a distance of the laser ranging device 2 relative to the target 32, and calculate a spatial coordinate (X/Y/Z) of the target to be measured according to the laser rotation matrix and the distance. The X axis and the Y axis in the original coordinate system of the space to be measured are parallel to the horizontal plane, and the Z axis is vertical to the horizontal plane.
Specifically, when laser emitted by the laser ranging device irradiates a characteristic point on a target, a first rotation matrix H of a base of the space positioning device relative to an original coordinate system of a space to be measured is obtained world-base A second rotation matrix H of the laser rangefinder apparatus mounting on the spatial locator apparatus (i.e., the end of the robotic arm) relative to the base of the spatial locator apparatus base-end And a third rotation matrix H of the laser distance measuring device relative to the mounting of the laser distance measuring device on the spatial positioning device end-laser (ii) a Wherein the first rotation matrix H world-base And a third rotation matrix H end-laser The method can be determined by standard tools, including but not limited to three-coordinate instruments (such as laser tracker, total station, etc.), calibration tools, etc.; second rotation matrix H base-end The data is output by the space positioning device.
And then performing cross multiplication on the first rotation matrix, the second rotation matrix and the third rotation matrix to obtain a laser rotation matrix H of the laser ranging device relative to the origin of the original coordinate system of the space to be measured, namely H = H world-base ×H base-end ×H end-laser 。
Meanwhile, the distance of the laser ranging device output by the laser ranging device relative to the target is obtained, the distance is expressed by a matrix, and a translation matrix P is obtained laser Then, the laser rotation matrix and the translation matrix are cross-multiplied to obtain the space coordinate of the target to be measured, namely P world ＝H world-base ×H base-end ×H end-laser ×P laser 。
In this embodiment, the number of the feature points 321 on the target 32 is one, and the spatial coordinates of the target to be detected can be obtained through the above description, but the attitude angle of the target to be detected cannot be obtained, so the automatic target pose detection system of this embodiment further includes an attitude angle sensor 4, and the attitude angle sensor 4 is disposed on the target to be detected; the attitude angle (Roll/Pitch/Yaw) of the target to be measured can be directly acquired through the attitude angle sensor 4. The attitude angle sensor 4 includes, but is not limited to, a multi-dimensional inclinometer.
The method can realize fully-automatic pose detection, avoid manual participation in pose identification and calculation processes, improve the accuracy and repeatability of overall detection, and allow an overall station to carry out quantitative detection on all targets to be detected in a short time; meanwhile, the equipment cost is low, and the equipment popularization rate can be improved, so that the automation level of stations and the detection repeatability precision are improved. Further, if the target to be detected is mounted by a flexible system (for example, a six-axis industrial robot), the quantitative detection result of the embodiment can be input into the flexible system as a deviation correction parameter, so that station self-calibration is realized.
Example two
Referring to fig. 2, the present embodiment is another implementation of the automatic target pose detection system in the above embodiment, and the same points are not repeated, but as shown in fig. 2, in the present embodiment, the target assembly includes at least three targets 32, and each target is provided with at least one feature point 321, so that the target assembly is provided with at least three feature points 321. In an alternative embodiment, the target assembly may comprise only one target with at least three feature points. The at least three feature points 321 include a first feature point, a second feature point, and a third feature point, where the first feature point, the second feature point, and the third feature point are not on the same straight line, and because the three feature points are not on the same straight line, a plane can be determined according to the three feature points (according to the different setting positions of the target, the plane can also represent any plane on the target to be measured), and a normal vector of the plane is an attitude angle of the target to be measured.
Specifically, the spatial positioning device is driven so that laser emitted by the laser ranging device sequentially irradiates a first characteristic point, a second characteristic point and a third characteristic point on the target;
when laser emitted by the laser ranging device irradiates a first characteristic point on a target, acquiring a first laser rotation matrix of the laser ranging device relative to the original point of an original coordinate system of a space to be measured and a first distance of the laser ranging device relative to the target, and calculating a first space coordinate of the target to be measured according to the first laser rotation matrix and the first distance;
when the laser emitted by the laser ranging device irradiates a second characteristic point on the target, acquiring a second laser rotation matrix of the laser ranging device relative to the original point of the original coordinate system of the space to be measured and a second distance of the laser ranging device relative to the target, and calculating a second space coordinate of the target to be measured according to the second laser rotation matrix and the second distance;
when the laser emitted by the laser ranging device irradiates a third characteristic point on the target, a third laser rotation matrix of the laser ranging device relative to the original point of the original coordinate system of the space to be measured and a third distance of the laser ranging device relative to the target are obtained, and a third space coordinate of the target to be measured is calculated according to the third laser rotation matrix and the third distance.
In the above process, when the spatial positioning device is driven, the first embodiment can be referred to, and the first embodiment performs coarse positioning and then performs precise positioning. The specific process of calculating the spatial coordinates of the target to be measured can also refer to the first embodiment.
And finally, fitting a space plane equation according to the first space coordinate, the second space coordinate and the third space coordinate, and calculating a normal vector of a plane corresponding to the space plane equation to obtain an attitude angle of the target to be measured. And the space coordinate of the target to be measured can be obtained by obtaining the space coordinate of any point on the plane corresponding to the plane equation.
In the embodiment, the attitude angle of the target to be measured is obtained by setting the three feature points and solving the normal vector of the plane where the three feature points are located, so that an attitude angle sensor does not need to be additionally arranged, and the equipment cost is further saved.
EXAMPLE III
The present embodiment is another implementation manner of the automatic target pose detection system in the foregoing embodiments, and the same points are not described again, but the difference is that in the present embodiment, the target assembly is a PSD (Position Sensitive detector), and the PSD is disposed on the target to be detected and is in communication connection with the control device. At the moment, a camera device is not needed to be arranged, the PSD sensor can detect whether the laser emitted by the laser ranging device irradiates on the PSD sensor, the laser point irradiated on the PSD sensor by the laser ranging device can be collected, the coordinate relation between the laser point and the characteristic point is calculated, and finally the coordinate relation is output to the control device.
In conclusion, the automatic target pose detection system provided by the invention can realize full-automatic pose detection, can avoid manual participation in pose identification and calculation processes, improve the accuracy and repeatability of integral detection, and allow an integral station to carry out quantitative detection on all targets to be detected in a short time; meanwhile, the equipment cost is low, and the equipment popularization rate can be improved, so that the automation level of stations and the detection repeatability precision are improved. Further, if the target to be detected is mounted by a flexible system (for example, a six-axis industrial robot), the quantitative detection result of the embodiment can be input into the flexible system as a deviation correction parameter, so that station self-calibration is realized. The invention can quantitatively judge the pose information of the target to be detected by using an automatic means aiming at the scene needing to accurately position the target to be detected, and realizes reliable and high-repeatability target pose detection.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent modifications made by the present invention and the contents of the accompanying drawings, which are directly or indirectly applied to the related technical fields, are included in the scope of the present invention.

Claims (10)

1. An automatic target pose detection system is characterized by comprising a spatial positioning device, a laser ranging device, a target assembly and a control device, wherein the laser ranging device is arranged on the spatial positioning device, and the target assembly is arranged on a target to be detected; the target to be measured is positioned in the range of the laser ranging device; the control device is respectively in communication connection with the space positioning device, the laser ranging device and the target assembly;
the laser ranging device is used for emitting laser and ranging;
the target assembly is used for judging whether the laser emitted by the laser ranging device irradiates on the target assembly;
the space positioning device is used for driving the laser ranging device to move and rotate in a space to be measured;
the control device is used for driving the space positioning device so as to enable the laser emitted by the laser ranging device to irradiate the target assembly;
the control device is further used for obtaining a laser rotation matrix of the laser ranging device relative to the original point of the original coordinate system of the space to be measured and the distance of the laser ranging device relative to the target assembly when the laser ranging device emits the laser to the target assembly, and calculating the space coordinate of the target to be measured according to the laser rotation matrix and the distance.
2. The automated target pose detection system of claim 1, wherein the control device is specifically configured to:
when laser emitted by the laser ranging device irradiates the target assembly, acquiring a first rotation matrix of a base of the space positioning device relative to an original point of an original coordinate system of a space to be measured, a second rotation matrix of an installation position of the laser ranging device on the space positioning device relative to the base of the space positioning device and a third rotation matrix of the laser ranging device relative to an installation position of the laser ranging device on the space positioning device;
calculating a laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured according to the first rotation matrix, the second rotation matrix and the third rotation matrix;
acquiring the distance, relative to the target assembly, of the laser ranging device output by the laser ranging device, and acquiring a translation matrix according to the distance;
and calculating the space coordinate of the target to be measured according to the laser rotation matrix and the translation matrix.
3. The automated target pose detection system of claim 1, wherein feature points are provided on the target assembly; the target assembly is further used for collecting laser points irradiated on the target assembly when the laser emitted by the laser ranging device is irradiated on the target assembly, and calculating the coordinate relation between the laser points and the characteristic points;
the control device is specifically configured to:
driving the space positioning device to perform rough positioning so that laser emitted by the laser ranging device irradiates the target assembly;
when the laser emitted by the laser ranging device irradiates the target assembly, the space positioning device is driven to perform accurate positioning according to the coordinate relation, so that the laser emitted by the laser ranging device irradiates the characteristic point;
when laser emitted by the laser ranging device irradiates on a characteristic point on the target component, a laser rotation matrix of the laser ranging device relative to the original point of an original coordinate system of a space to be measured and the distance of the laser ranging device relative to the target are obtained, and the space coordinate of the target to be measured is calculated according to the laser rotation matrix and the distance.
4. The automated target pose detection system of claim 3, wherein the target assembly is provided with a feature point; the device also comprises an attitude angle sensor, wherein the attitude angle sensor is arranged on the target to be measured; the attitude angle sensor is used for acquiring the attitude angle of the target to be measured.
5. The automated target pose detection system of claim 4, wherein the pose angle sensor is a multi-dimensional inclinometer.
6. The automated target pose detection system of claim 3, wherein at least three feature points are provided on the target assembly, the at least three feature points comprise a first feature point, a second feature point and a third feature point, and the first feature point, the second feature point and the third feature point are not on the same straight line;
the control device is used for:
driving the space positioning device to enable the laser emitted by the laser ranging device to sequentially irradiate a first characteristic point, a second characteristic point and a third characteristic point on the target assembly;
when laser emitted by the laser ranging device irradiates a first characteristic point on the target assembly, acquiring a first laser rotation matrix of the laser ranging device relative to an original point of an original coordinate system of a space to be measured and a first distance of the laser ranging device relative to the target assembly, and calculating a first space coordinate of a target to be measured according to the first laser rotation matrix and the first distance;
when laser emitted by the laser ranging device irradiates a second characteristic point on the target assembly, acquiring a second laser rotation matrix of the laser ranging device relative to the origin of an original coordinate system of a space to be measured and a second distance of the laser ranging device relative to the target assembly, and calculating a second space coordinate of the target to be measured according to the second laser rotation matrix and the second distance;
when laser emitted by the laser ranging device irradiates a third characteristic point on the target assembly, acquiring a third laser rotation matrix of the laser ranging device relative to the origin of the original coordinate system of the space to be measured and a third distance of the laser ranging device relative to the target assembly, and calculating a third space coordinate of the target to be measured according to the third laser rotation matrix and the third distance;
and fitting a space plane equation according to the first space coordinate, the second space coordinate and the third space coordinate, and calculating a normal vector of a plane corresponding to the space plane equation to obtain the attitude angle of the target to be measured.
7. The automated target pose detection system of any one of claims 1-6, wherein the target assembly is a PSD sensor.
8. The automatic target pose detection system of any one of claims 1 to 6, wherein the target assembly comprises a camera and a target, the target is arranged on the target to be detected and is positioned within the shooting visual field of the camera; the camera device is in communication connection with the control device;
the camera device is used for shooting the target in real time and judging whether the laser emitted by the laser ranging device irradiates the target or not.
9. The automated target pose detection system of claim 8, wherein the camera is disposed on the spatial locator device.
10. The automated target pose detection system of any one of claims 1-6, wherein the spatial positioning device comprises a robotic arm; the laser distance measuring device is a laser distance measuring instrument.
CN202211202997.XA 2022-09-29 2022-09-29 Automatic target pose detection system Pending CN115574769A (en)

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