CN115900601A

CN115900601A - Pose regulation system, pose regulation method, pose regulation device, flatness detection system and flatness detection method

Info

Publication number: CN115900601A
Application number: CN202110973034.9A
Authority: CN
Inventors: 麦源振; 熊光辉
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-08-24
Filing date: 2021-08-24
Publication date: 2023-04-04

Abstract

The application relates to a pose regulating system, a pose regulating method, a pose regulating device, a flatness detection system and a flatness detection method. The pose regulating system is characterized in that a reference surface which has a certain distance from a large-size object to be measured and is parallel to an expected plane of the large-size object to be measured is arranged. And then a first position sensor and a second position sensor which are unchanged relative to the pose of the reference surface are arranged, the change of the positions of the first position sensor and the second position sensor can represent the change condition of the shooting angle and the shooting distance of the camera device, and then the adjusting mechanism is controlled to adjust the poses of the two position sensors according to a first signal output by the first position sensor and a second signal output by the second position sensor so as to ensure that the included angle of the first position sensor relative to the reference surface is unchanged and the distance of the second position sensor relative to the reference surface is unchanged.

Description

Pose regulation system, pose regulation method, pose regulation device, flatness detection system and flatness detection method

Technical Field

The application relates to the technical field of flatness detection of large-size objects by using an image splicing technology, in particular to a pose regulating and controlling system, a pose regulating and controlling method and a pose regulating and controlling device, a flatness detection system, a flatness detection method and a flatness detection device, computer equipment and a storage medium.

Background

At present, when surface evenness of large-size objects such as concrete wall surfaces is detected, a depth camera is mainly used for photographing, acquired point cloud data are processed, accordingly, the wall surface evenness condition is obtained, and uneven places on the wall surfaces are processed according to the processing process requirements.

However, the inventor finds that the point cloud collection range of the depth camera is limited when the depth point cloud data is used for processing at present, and when the wall surface flatness is detected, particularly when the overall flatness of a large-area wall surface is judged, a plurality of pieces of point cloud data need to be integrated, so that the working difficulty and the result error are increased.

Disclosure of Invention

Therefore, it is necessary to provide a pose control system, a pose control method, a pose control device, a flatness detection system, and a flatness detection method, which can ensure that images acquired by a camera device are all shot at the same shooting angle and shooting distance, so as to greatly reduce the processing amount and precision of image splicing and improve the precision of a flatness detection result.

On the one hand, the embodiment of the application provides a position and orientation regulation and control system, is applied to the camera device who removes the object image that shoots the jumbo size and awaits measuring, and position and orientation regulation and control system includes:

the position and posture of the first position sensor relative to the camera device are kept unchanged; the first position sensor is used for acquiring a first signal, and the first signal is used for representing an included angle between the camera device and a reference surface; the reference surface is a surface which is parallel to the expected plane of the large-size object to be measured and has a certain distance;

the pose of the second position sensor relative to the camera device is kept unchanged; the second position sensor is used for acquiring a second signal, and the second signal is used for representing the distance between the camera device and the reference surface;

the adjusting mechanism is used for connecting the camera device and adjusting the pose of the camera device;

and the controller is respectively connected with the first position sensor and the second position sensor and used for controlling the adjusting mechanism to adjust the pose of the camera device according to the first signal and the second signal so as to keep the distance and the shooting angle of the camera device relative to the reference surface unchanged in the moving process.

According to the pose control system provided by the embodiment of the application, the reference surface which has a certain distance from the large-size object to be detected and is parallel to the expected plane of the large-size object to be detected is arranged, for example, when the large-size object to be detected is a wall surface, the expected plane of the large-size object to be detected is a plane surface of which a user expects the wall surface to present a plane effect. On the basis, by arranging the first position sensor and the second position sensor with unchanged poses relative to the reference surface, the change of the positions of the first position sensor and the second position sensor can equivalently represent the change of the angle and the distance of the camera relative to the reference surface because the relative poses are unchanged, and on the basis, the adjusting mechanism can be controlled to adjust the poses of the two position sensors according to the first signal output by the first position sensor and the second signal output by the second position sensor, so that the included angle of the first position sensor relative to the reference surface is ensured to be unchanged, the distance of the second position sensor relative to the reference surface is ensured, when the two parameters are unchanged, the included angle and the distance of the camera relative to the expected plane of the large-size object to be detected are ensured to be unchanged, at the moment, depth information reflected by an image shot by the camera is based on the reference surface, multiple images can be spliced quickly, the splicing result is high in accuracy, and the reliability of the wall surface smoothness determined based on the splicing result is higher.

In one embodiment, the first position sensor is a first PSD position sensor;

the pose control system further comprises:

a first laser for providing a first laser beam perpendicular to the reference plane;

when the camera device moves, the first PSD position sensor detects the position of the first laser beam on a detection surface of the first PSD position sensor in real time and outputs a first signal;

the controller is used for controlling the adjusting mechanism to work according to the deviation degree of the position reflected by the first signal and the first calibration position on the first PSD position sensor so as to change the pose of the first PSD position sensor and enable the first calibration position on the first PSD position sensor to track the first laser beam;

the first calibration position refers to a position where the first laser beam strikes a detection surface of the first PSD position sensor when a shooting direction of the camera device is perpendicular to a reference surface.

In one embodiment, the adjustment mechanism comprises:

one end of the rotating shaft is used for connecting the camera device;

the controller is used for controlling the rotation of the rotating shaft according to the deviation degree of the position reflected by the first signal and the first calibration position on the first PSD position sensor, so that the first calibration position tracks the first laser beam to ensure that the shooting angle of the camera device is unchanged in the moving shooting process.

In one embodiment, the second position sensor comprises a second PSD position sensor;

the pose regulation and control system further comprises:

the second laser is used for providing a laser beam which is parallel to the reference surface and has a constant distance with the reference surface;

when the camera device moves, the second PSD position sensor detects the position of the second laser beam on the detection surface of the second PSD position sensor in real time and outputs a second signal;

the controller is used for controlling the adjusting mechanism to work according to the deviation degree of the position reflected by the second signal and a second calibration position on the second PSD position sensor so as to change the pose of the second PSD position sensor and enable the second calibration position on the second PSD position sensor to track the second laser beam;

the second calibration position refers to a position where the second laser beam hits on the detection surface of the second PSD position sensor when the camera device shoots a large-size object to be detected at the target shooting distance.

In one embodiment, the adjustment mechanism comprises:

one end of the telescopic shaft is used for connecting the camera device;

the controller is used for controlling the telescopic amount of the telescopic shaft according to the deviation degree of the position reflected by the second signal and the second calibration position, so that the second calibration position tracks the second laser beam to ensure that the camera device shoots at the target shooting distance in the moving process.

On the other hand, the embodiment of the application also provides a pose regulating method, which is applied to a pose regulating system for regulating and controlling the pose of a camera device when a large-size object image to be detected is shot in a moving mode, and the method comprises the following steps:

acquiring a first signal acquired by a first position sensor, wherein the pose of the first position sensor relative to the camera device is kept unchanged; the first signal is used for representing an included angle between the camera device and a reference surface;

acquiring a second signal acquired by a second position sensor, wherein the pose of the second position sensor relative to the camera device is kept unchanged; the second signal is used for representing the distance between the camera device and the reference surface; the reference surface is a surface which is parallel to the expected plane of the large-size object to be measured and has a certain distance;

and controlling the adjusting mechanism to adjust the pose of the camera device according to the first signal and the second signal, so that the distance and the shooting angle of the camera device relative to the reference surface are kept unchanged in the moving process.

In one embodiment, the first position sensor is a first PSD position sensor; the step of controlling the adjusting mechanism to adjust the pose of the camera device according to the first signal and the second signal comprises the following steps:

controlling the adjusting mechanism to work according to the deviation degree of the actual position of the first laser beam, which is represented by the first signal, on the detection surface of the first PSD position sensor and the first calibration position on the detection surface of the first PSD position sensor, so as to change the position and posture of the first PSD position sensor and enable the first calibration position on the first PSD position sensor to track the first laser beam; the first laser beam is a laser beam which is provided by the first laser and is vertical to the reference surface;

the first calibration position refers to a position where the first laser beam hits on a detection surface of the first PSD position sensor when a shooting direction of the camera device is perpendicular to the reference surface.

In one embodiment, the second position sensor comprises a second PSD position sensor; the step of controlling the adjusting mechanism to adjust the pose of the image pickup device according to the first signal and the second signal further comprises:

controlling the adjusting mechanism to work according to the deviation degree of the actual position of the second laser beam on the detection surface of the second PSD position sensor, which is represented by the second signal, and the second calibration position on the detection surface of the second PSD position sensor, so as to change the pose of the second PSD position sensor and enable the second calibration position on the second PSD position sensor to track the second laser beam; the second laser beam is a laser beam which is provided by the second laser and is parallel to the reference surface, and the distance between the second laser beam and the reference surface is unchanged;

In addition, this application embodiment still provides a roughness detecting system for detect the roughness on jumbo size object surface that awaits measuring, this system includes:

the camera device is used for movably shooting an image of a large-size object to be measured;

the mobile device is mechanically connected with the camera device and is used for driving the camera device to move;

the pose regulating system;

the controller is used for splicing a plurality of images shot by the camera device in the moving process and obtaining the flatness information of the surface of the large-size object to be measured according to the spliced images.

In one embodiment, the camera device is a depth camera.

A flatness detection method is applied to a flatness detection system for detecting the surface flatness of a large-size object to be detected, and comprises the following steps:

controlling a mobile device to drive a camera device to move; the mobile device is mechanically connected with the camera device;

the pose regulating method comprises the following steps;

acquiring an image of a large-size object to be detected shot in the moving process of the camera device;

and splicing a plurality of images shot by the camera device in the moving process, and obtaining the flatness information of the surface of the large-size object to be detected according to the spliced images.

A position and pose regulating device is applied to a position and pose regulating system for regulating and controlling the position and pose of a camera device when a large-size object image to be measured is shot in a moving mode, and the position and pose regulating device comprises:

the shooting angle parameter acquisition module is used for acquiring a first signal acquired by a first position sensor, and the pose of the first position sensor relative to the camera device is kept unchanged; the first signal is used for representing an included angle between the camera device and a reference surface;

the shooting distance parameter acquisition module is used for acquiring a second signal acquired by a second position sensor, and the pose of the second position sensor relative to the camera device is kept unchanged; the second signal is used for representing the distance between the camera device and the reference surface; the reference surface is a surface which is parallel to the expected plane of the large-size object to be measured and has a certain distance;

and the pose adjusting and executing module is used for controlling the adjusting mechanism to adjust the pose of the camera device according to the first signal and the second signal so as to keep the distance and the shooting angle of the camera device relative to the reference surface unchanged in the moving process.

The utility model provides a roughness detection device, is applied to the roughness detecting system who detects jumbo size determinand surface flatness, and the device includes:

the mobile control module is used for controlling the mobile device to drive the camera device to move; the mobile device is mechanically connected with the camera device;

the pose regulating and controlling module is used for executing the steps of the pose regulating and controlling method;

the image acquisition module is used for acquiring an image of a large-size object to be detected shot in the moving process of the camera device;

and the flatness information acquisition module is used for splicing a plurality of images shot by the camera device in the moving process and acquiring the flatness information of the surface of the large-size object to be measured according to the spliced images.

A computer device includes a memory in which a computer program is stored and a processor that implements the steps of the above-described pose adjusting method and/or the steps of the above-described flatness detecting method when the processor executes the computer program.

A computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the steps of the above-described pose regulating method and/or the steps of the above-described flatness detecting method.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the description of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the description below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a front view of a pose control system and a flatness detection system in one embodiment;

FIG. 2 is a top view of the pose control system and the flatness detection system in the embodiment shown in FIG. 1;

FIG. 3 is a schematic diagram of a portion of the pose control system and flatness detection system when facing the lens of the image capture device in one embodiment;

FIG. 4 is a schematic flow chart of a pose adjustment method and a flatness detection method according to an embodiment;

FIG. 5 is a schematic flow chart of a pose adjustment method and a flatness detection method according to another embodiment;

FIG. 6 is a block diagram showing the structures of a pose control apparatus and a flatness detection apparatus according to an embodiment;

FIG. 7 is a diagram showing an internal configuration of a computer device according to an embodiment.

Detailed Description

To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.

As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," or "having," and the like, specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.

In an exemplary technology, in an application scene of a building robot, a depth camera for shooting images of a wall surface is generally a mobile machine, and in an image acquisition and moving process, an acquired reference depth changes due to a machine moving error and a field environment influence, so that an accuracy error of an overall image is increased.

In view of this problem, in one embodiment, as shown in fig. 1 to 3, the present application provides a pose control system for use in an imaging apparatus 90 that moves and captures a DC image of a large-sized object to be measured, the pose control system including: a first position sensor 20, a second position sensor 40, an adjustment mechanism 60, and a controller. Wherein the attitude of the first position sensor 20 with respect to the imaging device 90 remains unchanged; the first position sensor 20 is configured to acquire a first signal, where the first signal is used to represent an included angle between the camera device 90 and the reference plane CK; the reference plane CK is a plane parallel to and at a constant distance from the desired plane of the large-sized object DC to be measured. The attitude of the second position sensor 40 with respect to the image pickup device 90 remains unchanged; the second position sensor 40 is used to acquire a second signal, which is used to characterize the distance between the camera device 90 and the reference plane CK. The adjusting mechanism 60 is used for connecting the camera device 90, and the adjusting mechanism 60 is used for adjusting the pose of the camera device 90; the controller is connected with the first position sensor 20 and the second position sensor 40 respectively, and is used for controlling the adjusting mechanism 60 to adjust the pose of the camera device 90 according to the first signal and the second signal, so that the distance and the shooting angle of the camera device 90 relative to the reference surface CK are kept unchanged in the moving process.

The first position sensor 20 is a device capable of acquiring an angle that can characterize itself with respect to the reference plane CK. For example, first position sensor 20 may be a PSD position sensor. The PSD position sensor is an optical detector capable of measuring the continuous position of a light spot on the detector surface, and can convert the position of the light spot on a photosensitive surface (i.e., a detection surface described below) into an electrical signal for output. The second position sensor 40 refers to a device capable of acquiring a distance that can characterize itself in comparison to the reference plane CK. For example, the second position sensor 40 may also be a PSD position sensor. The first and second position sensors 40 may also be other types of sensors, such as a compound device. For example, the first position sensor 20 may include an ultrasonic generator and a plurality of known ultrasonic receivers arranged in an array on the reference plane CK, where when the image capturing device 90 captures a front image, the ultrasonic receiver in the center position can receive ultrasonic waves, and when the capturing angle of the image capturing device 90 changes, the other ultrasonic receivers receive ultrasonic waves, and the angle of the image capturing device 90 relative to the reference plane CK can be known according to the first signal fed back by the ultrasonic receivers. The detection of the recording distance can likewise be carried out with the second position sensor 40 using an ultrasonic transceiver. The surface of a large-size object to be detected DC such as a wall surface is not necessarily flush, which is the reason why the surface flatness is detected, so that a reference surface needs to be selected, pictures shot based on the reference surface have the same depth standard, and the flatness detection aims to obtain a plane effect expected by a user through correction, so that a flat plane which is in line with the expectation of the user is selected as a standard to determine the reference surface CK. For example, before the wall surface is painted, a flat cement wall surface is used as a desired plane of the large-sized object to be measured DC, and the wall surface can also be used as the reference surface CK.

Before starting, according to an actual application scene and a large-size object to be measured DC needing to be shot, a reference surface CK is calibrated, and the reference surface is a surface which is parallel to an expected plane of the large-size object to be measured DC and has a certain distance. Then, the pose of the first Position sensor 20 is set compared with that of the image capturing device 90, for example, when the first Position sensor 20 is a PSD (Position Sensitive detector) Position sensor, the adjacent surface of the detection surface of the first Position sensor 20 can be set in parallel with the plane where the lens of the image capturing device 90 is located, and for flatness detection, it is desirable to shoot the object DC directly against the object DC to be measured, but the surface of the object DC to be measured is not necessarily flat, so it is desirable that the shooting direction PA is perpendicular to the reference plane CK, and the setting of the relative positions of the first Position sensor 20 and the image capturing device 90 and the setting of the initial shooting angle of the image capturing device 90 can be performed based on the requirement. Similarly, the position of the second position sensor 40 may need to be set prior to beginning execution, as shown in FIGS. 1-3.

By providing the first position sensor 20 and the second position sensor 40 with unchanged poses relative to the reference plane CK as described above, since the relative poses are unchanged, the change in the positions of the first position sensor 20 and the second position sensor 40 can equivalently represent the change in the angle and distance of the imaging device 90 relative to the reference plane CK, based on which the adjusting mechanism 60 can be controlled to adjust the poses of the two position sensors according to the first signal output by the first position sensor 20 and the second signal output by the second position sensor 40, so as to ensure that the included angle of the first position sensor 20 relative to the reference plane CK is unchanged and the distance of the second position sensor 40 relative to the reference plane CK is unchanged, and when the two parameters are unchanged, the included angle and distance of the imaging device 90 relative to the desired plane of the large-size object DC are unchanged, and at this time, the depth information reflected by the image captured by the imaging device 90 is based on the image relative to the reference plane CK, the multiple images can be quickly spliced, and the splicing accuracy is high, and the reliability of the wall flatness determined based on the splicing result is also higher.

In one embodiment, the first position sensor 20 is a first PSD position sensor P1; the pose regulation and control system further comprises: a first laser 10, the first laser 10 being adapted to provide a first laser beam JG1 perpendicular to the reference plane CK; when the camera device 90 moves, the first PSD position sensor P1 detects the position of the first laser beam JG1 on the detection surface of the first PSD position sensor P1 in real time and outputs a first signal; the controller is used for controlling the adjusting mechanism 60 to work according to the deviation degree between the position reflected by the first signal and the first calibration position on the first PSD position sensor P1 so as to change the pose of the first PSD position sensor P1 and enable the first calibration position on the first PSD position sensor P1 to track the first laser beam JG1; the first calibration position is a position where the first laser beam JG1 hits on the detection surface of the first PSD position sensor P1 when the shooting direction PA of the camera device 90 is perpendicular to the reference surface CK.

Here, the first calibration position tracking first laser beam JG1 means that the electrical signal output by the first PSD position sensor P1 can always keep the magnitude of the output electrical signal when the laser is received at the first calibration position. Since the first PSD position sensor P1 can detect the continuous position of the first laser beam JG1 on the detection surface thereof, that is, it is known that the position change of the first PSD position sensor P1 relative to the first laser 10 emitting the first laser beam JG1 at the front and back time is known, and the position of the first laser 10 is not changed, that is, the position change of the first signal at this time is caused by the position change of the first PSD position sensor P1, and the position change of the first PSD position sensor P1 relative to the camera device 90 is kept unchanged, which indicates that the position change of the camera device 90 relative to the reference surface CK at this time causes the reference depth of the images taken at different times to be inconsistent, which greatly increases the difficulty of image splicing and the accuracy of the point cloud data obtained based on the spliced images. Therefore, at this time, the controller controls the adjusting mechanism 60 to operate according to the laser beam position change detected by the first PSD position sensor P1, so as to drive the first PSD position sensor P1 and the camera device 90 to move synchronously until the first laser beam JG1 is received again at the first calibration position of the first PSD position sensor P1, because the adjusting process is fast, the adjusting time is less than the interval time between two adjacent images taken by the camera device 90, so that it can be ensured that the images taken by the camera device 90 each time are based on the same depth reference.

By taking the camera device 90 as a depth camera and being capable of acquiring point cloud pictures as an example, by adding the pose control of the PSD position sensor on the basis of point cloud processing of the depth camera, the stability and the uniformity of data storage of the depth camera on the basis of collecting a plurality of pieces of wall point cloud data can be ensured, the overall image error caused by movement of a device chassis carrying the camera device 90 is reduced, and the accuracy of a flatness detection result is improved.

In one embodiment, as shown in fig. 1-2, the adjustment mechanism 60 includes: a rotating shaft 62, one end of the rotating shaft 62 is used for connecting the camera device 90; the controller is configured to control the rotation of the rotating shaft 62 according to a deviation degree between a position reflected by the first signal and a first calibration position on the first PSD position sensor P1, so that the first calibration position tracks the first laser beam JG1 to ensure that a shooting angle of the camera device 90 is unchanged during the moving shooting process. The first calibration position may be selected from a geometric center of a detection plane of the first PSD position sensor P1. The rotary shaft 62 may be driven by a servo motor. The controller controls the rotation angle of the rotary shaft 62 by controlling the output signal of the servo motor. The relationship of the first PSD position sensor P1 and the camera 90 with respect to the rotation axis 62 can be referred to fig. 1-2. The rotation shaft 62 and the camera device 90 may be fixedly connected by a mechanical connection.

In one embodiment, as shown in FIGS. 1-3, the second position sensor 40 comprises a second PSD position sensor P2;

the pose control system further comprises:

a second laser 30, the second laser 30 being used for providing a laser beam parallel to the reference plane CK and having a constant distance from the reference plane CK;

when the camera device 90 moves, the second PSD position sensor P2 detects the position of the second laser beam JG2 on the detection surface of the second PSD position sensor P2 in real time and outputs a second signal;

the controller is used for controlling the adjusting mechanism 60 to work according to the deviation degree between the position reflected by the second signal and the second calibration position on the second PSD position sensor P2 so as to change the pose of the second PSD position sensor P2 and enable the second calibration position on the second PSD position sensor P2 to track the second laser beam JG2;

the second calibration position is a position where the second laser beam JG2 hits the detection surface of the second PSD position sensor P2 when the image pickup device 90 picks up the large-sized object to be detected DC at the target shooting distance.

Here, the second calibration position tracking second laser beam JG2 means that the electrical signal output by the second PSD position sensor P2 can always keep the magnitude of the output electrical signal when the laser is received at the second calibration position. Since the second PSD position sensor P2 can detect the continuous position of the second laser beam JG2 on the detection surface thereof, that is, the position change of the second PSD position sensor P2 relative to the second laser 30 at the front and rear time is known, and the position of the second laser 30 is not changed, that is, the second signal change at this time is caused by the position change of the second PSD position sensor P2, and the pose of the second PSD position sensor P2 relative to the image capturing device 90 is kept unchanged, which indicates that the pose of the image capturing device 90 relative to the reference surface CK is changed at this time, and this change reflects the shooting distance of the image capturing device 90, and the change in the shooting distance also causes the reference depth of the images shot at different times to be inconsistent, which greatly increases the difficulty of image splicing and the accuracy of the point cloud data obtained based on the spliced images. Therefore, the controller controls the adjusting mechanism 60 to operate according to the laser beam position change detected by the second PSD position sensor P2, so as to drive the second PSD position sensor P2 and the camera device 90 to move synchronously until the second laser beam JG2 is received again at the second calibration position of the second PSD position sensor P2, because the adjusting process is fast, the adjusting time is less than the interval time between two adjacent images taken by the camera device 90, so that the images taken by the camera device 90 each time can be guaranteed to be based on the same depth reference. The second calibration position may be chosen to be the geometric center of the detection plane of the second PSD position sensor P2.

In one embodiment, as shown in fig. 1-2, the adjustment mechanism 60 includes a telescoping shaft 64, one end of the telescoping shaft 64 being used to connect to the camera 90. Other devices may be connected in between, for example, as shown in the figure, one end of the telescopic shaft 64 is connected to the end of the rotating shaft 62 far away from the camera device 90. The telescopic direction of the telescopic shaft 64 coincides with the imaging direction PA of the imaging device 90. The controller controls the amount of extension and retraction of the telescopic shaft 64 according to the degree of deviation between the position reflected by the second signal and the second calibration position, so that the second calibration position tracks the second laser beam JG2 to ensure that the camera device 90 performs shooting at the target shooting distance in the moving process. The target photographing distance may be set by the user in advance, or the controller may automatically update the distance from the reference plane CK when the image capturing apparatus 90 captures an image for the first time to the target photographing distance.

It should be noted that, in the drawings, the wall of a building is taken as an example of a large-size object to be measured DC, but those skilled in the art should understand that the application scenarios of the system and the method provided by the present application are not limited to the picture shooting of the wall, and may be other large-size objects to be measured DC such as a ceiling.

In order to better explain the implementation process of the pose control system provided by the embodiment of the present application, a large-sized object to be measured DC is taken as a wall surface, a reference plane CK is a plane perpendicular to a horizontal plane, and the image capture device 90 is taken as a depth camera for example. The system uses two PSD position sensors, wherein a signal provided by a first PSD position sensor P1 is used for adjusting an included angle between a depth camera and a wall surface, the depth camera is guaranteed to be parallel to the wall surface, a signal provided by a second PSD position sensor P2 is used for adjusting the distance between the depth camera and the wall surface, and the distance between the depth camera and the wall surface is guaranteed to be based on the distance between a plane formed by a second laser beam JG2 (vertical laser) and a reference surface CK in the moving process of a machine carrying the depth camera.

The angle adjustment can be achieved by controlling the rotation angle of the rotating shaft 62 by a servo motor. According to the strength of the first laser beam JG1 (horizontal laser) received by the first PSD position sensor P1, the angle is adjusted to ensure that the side of the camera device 90 perpendicular to the horizontal plane is perpendicular to the horizontal laser. The telescopic shaft 64 of the second PSD position sensor P2 is controlled by a servo motor, and the telescopic amount of the telescopic shaft 64 is adjusted to ensure that the second PSD position sensor P2 always tracks the vertical laser and ensure that the telescopic amount of the depth camera is constant in the moving process of the machine.

First laser instrument 10 transmission laser can the horizontal emission laser, has autonomic level adjustment function, can use tripod or other modes in the construction place on ground can, guarantee that the centre of a circle of first laser instrument 10 is in same straight line with first PSD position sensor P1. The second laser 30 can also be placed on the ground as shown in fig. 1, with the second laser beam JG2 vertical to the horizontal plane, or vertical to the ground if the ground is flat enough, and kept parallel to the reference plane CK.

Through the position and posture regulation of the PSD position sensor, the direct splicing of a plurality of point cloud pictures shot by the depth camera can be realized, and angle and depth errors caused by machine motion do not need to be processed.

s200: acquiring a first signal acquired by a first position sensor, wherein the pose of the first position sensor relative to the camera device is kept unchanged; the first signal is used for representing an included angle between the camera device and a reference surface; the reference surface is a surface which is parallel to the expected plane of the large-size object to be measured and has a certain distance;

s400: acquiring a second signal acquired by a second position sensor, wherein the pose of the second position sensor relative to the camera device is kept unchanged; the second signal is used for representing the distance between the camera device and the reference surface;

s600: and controlling an adjusting mechanism to adjust the pose of the camera device according to the first signal and the second signal, so that the distance and the shooting angle of the camera device relative to the reference surface are kept unchanged in the moving process.

The explanations of the terms are not repeated herein, and refer to the descriptions in the above embodiments of the present application. Specifically, in the moving shooting process of the camera device, a first signal acquired by a first position sensor and a second signal acquired by a second position sensor are acquired, a control instruction is sent out according to an included angle between the camera device represented by the first signal and a reference surface and a distance between the camera device represented by the second signal and the reference surface, and compared with a shooting angle and a shooting distance of the camera device relative to the reference surface, which are expected by a user, the control instruction instructs an adjusting mechanism to adjust the pose of the camera device, so that the distance and the shooting angle of the camera device relative to the reference surface are kept unchanged in the moving process, and the shooting angle and the shooting distance which are expected by the user are kept at all the time or the shooting angle and the shooting distance when the first image is shot.

In one embodiment, the first position sensor is a first PSD position sensor; the step S600 of controlling the adjusting mechanism to adjust the pose of the image pickup apparatus according to the first signal and the second signal includes:

s620: controlling the adjusting mechanism to work according to the deviation degree of the actual position of the first laser beam, which is represented by the first signal, on the detection surface of the first PSD position sensor and the first calibration position on the detection surface of the first PSD position sensor, so as to change the position and posture of the first PSD position sensor and enable the first calibration position on the first PSD position sensor to track the first laser beam; the first laser beam is a laser beam which is provided by the first laser and is vertical to the reference surface; the first calibration position refers to a position where the first laser beam hits on a detection surface of the first PSD position sensor when a shooting direction of the camera device is perpendicular to the reference surface.

In one embodiment, the first calibration location may be a center point on the first PSD location sensor, where the detection strength of the first PSD location sensor is strongest, and the closer to the center point, the larger the value of the first signal is.

The step of controlling the adjusting mechanism to operate according to the deviation degree between the actual position of the first laser beam, which is characterized by the first signal, on the detection surface of the first PSD position sensor and the first calibration position on the detection surface of the first PSD position sensor, so as to change the pose of the first PSD position sensor, and enable the first calibration position on the first PSD position sensor to track the first laser beam may include:

and controlling the adjusting mechanism to work according to the difference between the size of the first signal and the size of the signal output when the first calibration position receives the laser signal, so as to change the position and posture of the first PSD position sensor, and maintain the strength of the first signal output by the first PSD position sensor at the size of the signal output when the first calibration position receives the laser signal.

In one embodiment, the second position sensor comprises a second PSD position sensor; the step S600 of controlling the adjusting mechanism to adjust the pose of the image pickup apparatus according to the first signal and the second signal further includes:

s640: controlling the adjusting mechanism to work according to the deviation degree between the actual position of the second laser beam on the detection surface of the second PSD position sensor, which is represented by the second signal, and the second calibration position on the detection surface of the second PSD position sensor, so as to change the pose of the second PSD position sensor and enable the second calibration position on the second PSD position sensor to track the second laser beam; the second laser beam is a laser beam which is provided by the second laser and is parallel to the reference surface, and the distance between the second laser beam and the reference surface is unchanged;

the second calibration position refers to a position where the second laser beam strikes a detection surface of the second PSD position sensor when the camera device shoots a large-size object to be detected at a target shooting distance.

For the detection and pose regulation process of the second PSD position sensor, the center of the second PSD position sensor (for example, the geometric center of the detection surface of the PSD position sensor) may also be selected as the second calibration position. According to the principle that the size of the output signal of the PSD position sensor is inversely proportional to the distance between the point on the detection surface and the center, the step of controlling the operation of the adjusting mechanism according to the deviation degree between the actual position of the second laser beam, which is characterized by the second signal, on the detection surface of the second PSD position sensor and the second calibration position on the detection surface of the second PSD position sensor to change the position and posture of the second PSD position sensor so that the second calibration position on the second PSD position sensor tracks the second laser beam may include:

and controlling the adjusting mechanism to work according to the difference between the size of the second signal and the size of the signal output when the laser signal is received at the second calibration position, so as to change the position and posture of the second PSD position sensor, and maintain the strength of the second signal output by the second PSD position sensor at the size of the signal output when the laser signal is received at the second calibration position.

For how to control the adjusting mechanism to change the pose of the image capturing apparatus by using the first signal and the second signal, reference may be made to the description in the above system embodiment, which is not described herein again. It should be understood that although the various steps in the flowcharts of fig. 4-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 4-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternatively with other steps or at least some of the other steps or stages.

A pose control device, as shown in fig. 6, applied to a pose control system for controlling the pose of a camera device when moving and shooting an image of a large-size object to be measured, the device comprising:

a shooting angle parameter obtaining module 200, configured to obtain a first signal collected by a first position sensor, where a pose of the first position sensor with respect to the image capturing apparatus remains unchanged; the first signal is used for representing an included angle between the camera device and a reference surface;

a shooting distance parameter obtaining module 400, configured to obtain a second signal collected by a second position sensor, where a pose of the second position sensor with respect to the image capturing apparatus remains unchanged; the second signal is used for representing the distance between the camera device and the reference surface; the reference surface is a surface which is parallel to the expected plane of the large-size object to be measured and has a certain distance;

and the pose adjusting and executing module 600 is used for controlling the adjusting mechanism to adjust the pose of the camera device according to the first signal and the second signal, so that the distance and the shooting angle of the camera device relative to the reference surface are kept unchanged in the moving process.

For the explanation of the terms related to the device, reference may be made to the above embodiments, which are not described herein. Specifically, the shooting angle parameter acquiring module 200 acquires a first signal acquired by a first position sensor, and the first signal can represent an included angle between the camera and a reference surface because the pose of the first position sensor with respect to the camera remains unchanged. Meanwhile, a shooting distance parameter acquisition module 400 is used for acquiring a second signal acquired by a second position sensor, and the second signal can represent the distance between the camera device and the reference surface by presetting the relative position of the second position sensor and the camera device as the pose of the second position sensor relative to the camera device is also kept unchanged; the reference surface is a surface which is parallel to the expected plane of the large-size object to be measured and has a certain distance; finally, the pose adjusting and executing module 600 controls the adjusting mechanism to adjust the pose of the camera by using the first signal and the second signal, so that the distance and the shooting angle of the camera relative to the reference surface are kept unchanged in the moving process. The depth information that the many pictures that guarantee camera device shoot show all obtains under same shooting angle and shooting distance, based on this, is favorable to quick concatenation and the accurate concatenation of these many pictures. Furthermore, the reliability of the flatness information of the surface of the object to be measured, which is obtained based on the spliced image, can be improved.

In one embodiment, as shown in FIG. 6, the first position sensor is a first PSD position sensor; the pose adjustment execution module 600 includes:

the shooting angle adjusting unit 620 is configured to control the adjusting mechanism to operate according to a deviation degree between an actual position of the first laser beam, represented by the first signal, on the detection surface of the first PSD position sensor and a first calibration position on the detection surface of the first PSD position sensor, so as to change a pose of the first PSD position sensor, and enable the first calibration position on the first PSD position sensor to track the first laser beam; the first laser beam is a laser beam which is provided by the first laser and is vertical to the reference surface;

In one embodiment, the second position sensor comprises a second PSD position sensor; the pose adjustment execution module 600 further includes:

the shooting distance adjusting unit 640 is configured to control the adjusting mechanism to operate according to a deviation degree between an actual position of the second laser beam, represented by the second signal, on the detection surface of the second PSD position sensor and a second calibration position on the detection surface of the second PSD position sensor, so as to change a pose of the second PSD position sensor, and enable the second calibration position on the second PSD position sensor to track the second laser beam; the second laser beam is a laser beam which is provided by the second laser and is parallel to the reference surface, and the distance between the second laser beam and the reference surface is unchanged;

For specific definition of the pose control device, reference may be made to the definition of the pose control method above, and details are not described here. All modules in the pose control device can be completely or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and there may be another division manner in actual implementation.

In addition, the embodiment of the application further provides a flatness detection system for detecting the flatness of the surface of the large-size object to be detected DC, and as shown in fig. 1 to 3, the system includes a camera device 90, a moving device 80 and the above pose adjusting and controlling system. When the device works, the moving device 80 is mechanically connected with the camera device 90, and the moving device 80 is used for driving the camera device 90 to move; then the camera device 90 moves to shoot the image of the large-size object to be measured DC; the pose adjusting and controlling system continuously adjusts the pose of the camera device 90 in the moving process of the camera device 90, so that the camera device can move to shoot in a state that the shooting angle and the shooting distance of the camera device 90 are not changed compared with the reference surface CK, finally, the controller splices a plurality of images shot in the moving process of the camera device 90, and obtains the flatness information of the surface of the large-size object to be detected DC according to the spliced images.

For the explanation of the above terms, reference is made to the description in the above embodiments, which is not repeated herein. Taking a large-size object to be detected DC as a wall surface as an example, the flatness detection system drives the camera device 90 to move along a direction approximately parallel to the wall surface by using the moving device 80 capable of driving the camera device 90 to move, and since the wall surface may be uneven, a calibrated reference surface CK is adopted to represent an ideal flat wall surface which a user wants to see, the reference surface CK is parallel to the ideal wall surface and has a certain distance with the ideal wall surface, and when the pose is adjusted and controlled subsequently, the purpose can be achieved as long as the shooting angle and the shooting distance of the camera device 90 relative to the reference surface CK are not changed. The moving device 80 drives the camera device 90 to move, the pose adjusting system continuously adjusts the pose of the camera device 90, meanwhile, the controller synchronously acquires images acquired by the camera device 90, when the images shot by the camera device 90 include all positions of the wall surface (namely, stop conditions of image acquisition are met), the controller performs image splicing by using an image splicing algorithm, and obtains depth information capable of representing coatings on all positions of the wall surface by using the algorithm, if the wall surface is flat enough, the depth information of all positions on the wall surface should be consistent, if the depth information value of a certain position is larger than the depth information value difference of other positions, the fact that the coatings on the wall surface have pits or obvious bulges is represented, and subsequent construction is needed to improve the flatness of the position. Based on the flatness information obtained by the system, the reliability is high. And a flatness repairing decision can be further made based on the flatness information, and the wall surface repaired based on the decision has better effect.

In one embodiment, the moving device 80 comprises a body 82 and wheels 84, one end of the body 82 is fixedly connected with the telescopic shaft 64, and the wheels 84 are arranged at the bottom of the body 82. The wheels 84 can be driven by a driving device integrated in the moving device 80 to roll, so as to drive the body 82 to move, and when the body 82 moves, the camera device 90 connected with the body 82 through the telescopic shaft 64 and the rotating shaft 62 moves along with the body, so that the moving shooting is realized.

In one embodiment, the camera 90 is a depth camera. A depth camera refers to a camera capable of determining depth information from a photographed object. For example, the depth camera may be a TOF (Time of flight) camera, a structured light camera, a binocular passive stereo vision three-dimensional camera, and the like.

In one embodiment, the present application provides a flatness detecting method applied to a flatness detecting system for detecting the surface flatness of a large-sized object to be detected, the method including:

s100: controlling a mobile device to drive a camera device to move; the mobile device is mechanically connected with the camera device.

The pose regulating method comprises the following steps; for the realization of the pose control method, reference can be made to the description in the above method embodiments.

S800: and acquiring an image of a large-size object to be measured shot by the camera device in the moving process.

S900: and splicing a plurality of images shot by the camera device in the moving process, and obtaining the flatness information of the surface of the large-size object to be detected according to the spliced images.

Based on the above embodiment, how the mobile device drives the camera device to move and how the camera device moves to keep the shooting distance and the shooting angle of the camera device unchanged based on the steps of the pose adjusting and controlling method in the shooting process, so as to ensure that the images shot by the camera device can be quickly spliced, and for obtaining the flatness information of the surface of the large-size object to be measured, because the shooting process is based on the same reference surface which is used for representing the very flat surface of the object to be measured expected by the user, the determined flatness information reflects the flatness difference between the surface of the actual object to be measured and the surface of the expected object to be measured. Based on the difference reflected by the flatness information, a plan for correcting the surface flatness of the object to be detected can be quickly made according to specific construction requirements.

It should be understood that although the various steps in the flowcharts of fig. 4-5 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 4-5 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps or stages.

A flatness detecting apparatus, as shown in fig. 6, is applied to a flatness detecting system for detecting the flatness of the surface of a large-sized object to be measured, and the apparatus includes:

the mobile control module 100 is used for controlling the mobile device to drive the camera device to move; the mobile device is mechanically connected with the camera device;

a pose regulating module 1 for executing the steps of the pose regulating method;

the image acquisition module 800 is used for acquiring an image of a large-size object to be measured, which is shot by the camera device in the moving process;

the flatness information acquiring module 900 is configured to splice multiple images captured during the moving process of the camera device, and acquire flatness information of the surface of the large-sized object to be measured according to the spliced images.

The terms such as the camera device and the mobile device can be explained with reference to the above embodiments, and are not described herein again. Specifically, the flatness detection device controls the mobile device to drive the camera device to move by using the movement control module 100, and meanwhile, in the moving process of the camera device, the steps of the pose regulating method are executed by the pose regulating module 1 to ensure that the shooting angle and the shooting distance of the camera device compared with the reference surface are not changed in the moving process of the camera device, in this case, the reference system of the depth information in the shot images is the same, then a plurality of images shot in the moving process of the camera device are obtained by the image obtaining module 800 and sent to the flatness information obtaining module 900, the flatness information obtaining module 900 splices the plurality of images shot in the moving process of the camera device, and obtains the flatness information of the surface of the large-size object to be detected according to the spliced images. The spliced image obtained based on the method is accurate in splicing, and the depth information reflected on the spliced image is relative to the same reference surface, so that the finally obtained flatness information is high in reliability, and the subsequent correction effect of the surface flatness of the object to be detected based on the flatness information is better.

For the specific definition of the flatness detection apparatus, reference may be made to the above definition of the flatness detection method, which is not described herein again. Each module in the flatness detection apparatus may be wholly or partially implemented by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. It should be noted that, in the embodiment of the present application, the division of the module is schematic, and is only one logic function division, and another division manner may be available in actual implementation.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing the first calibration position and the value of the first signal when the first calibration position receives the laser, and can also store the second calibration position and the value of the second signal when the second calibration position receives the laser. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement the steps of a pose regulating method and/or the steps of the flatness detection method described above.

Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory having a computer program stored therein and a processor that when executing the computer program performs the steps of:

s200: acquiring a first signal acquired by a first position sensor, wherein the pose of the first position sensor relative to the camera device is kept unchanged; the first signal is used for representing an included angle between the camera device and a reference surface;

s400: acquiring a second signal acquired by a second position sensor, wherein the pose of the second position sensor relative to the camera device is kept unchanged; the second signal is used for representing the distance between the camera device and the reference surface; the reference surface is a surface which is parallel to the expected plane of the large-size object to be measured and has a certain distance with the expected plane;

In one embodiment, the processor, when executing the computer program, further performs the steps of:

s620: controlling the adjusting mechanism to work according to the deviation degree of the actual position of the first laser beam, which is represented by the first signal, on the detection surface of the first PSD position sensor and the first calibration position on the detection surface of the first PSD position sensor, so as to change the pose of the first PSD position sensor and enable the first calibration position on the first PSD position sensor to track the first laser beam; the first laser beam is a laser beam which is provided by the first laser and is vertical to the reference surface;

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

s100: controlling a mobile device to drive a camera device to move; the mobile device is mechanically connected with the camera device;

the pose regulating method comprises the following steps;

s800: acquiring an image of a large-size object to be detected shot in the moving process of the camera device;

When the computer device executes the method steps, any beneficial effect in the method embodiments can be achieved, that is, the computer device provided by the embodiment of the application can keep the shooting angle and the shooting distance of the camera device carrying the computer device unchanged in the moving process to carry out moving shooting on the large-size object to be detected, so that the shot images can be quickly spliced, the splicing accuracy of the spliced images is high under the condition, and the reliability of the surface flatness of the object to be detected obtained based on the spliced images is high.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

s400: acquiring a second signal acquired by a second position sensor, wherein the pose of the second position sensor relative to the camera device is kept unchanged; the second signal is used for representing the distance between the camera device and the reference surface; the reference surface is a surface which is parallel to the expected plane of the large-size object to be measured and has a certain distance;

s600: and controlling the adjusting mechanism to adjust the pose of the camera device according to the first signal and the second signal, so that the distance and the shooting angle of the camera device relative to the reference surface are kept unchanged in the moving process.

In one embodiment, the computer program when executed by the processor further performs the steps of:

s620: controlling the adjusting mechanism to work according to the deviation degree of the actual position of the first laser beam, which is represented by the first signal, on the detection surface of the first PSD position sensor and the first calibration position on the detection surface of the first PSD position sensor, so as to change the position and posture of the first PSD position sensor and enable the first calibration position on the first PSD position sensor to track the first laser beam; the first laser beam is a laser beam which is provided by the first laser and is vertical to the reference surface;

the pose regulating method comprises the following steps;

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A position and orientation regulation and control system is characterized by being applied to a camera device for movably shooting a large-size object to be measured, and comprising:

a first position sensor whose posture with respect to the image pickup device is kept unchanged; the first position sensor is used for acquiring a first signal, and the first signal is used for representing an included angle between the camera device and a reference surface; the reference surface is a surface which is parallel to an expected plane of the large-size object to be measured and has a certain distance with the expected plane;

a second position sensor whose pose with respect to the image pickup device is kept unchanged; the second position sensor is used for acquiring a second signal, and the second signal is used for representing the distance between the camera device and the reference surface;

the controller is connected with the first position sensor and the second position sensor respectively, and is used for controlling the adjusting mechanism to adjust the pose of the camera device according to the first signal and the second signal, so that the distance and the shooting angle of the camera device relative to the reference surface in the moving process are kept unchanged.

2. The pose regulating system according to claim 1, wherein the first position sensor is a first PSD position sensor;

the pose regulating system further includes:

the controller is used for controlling the adjusting mechanism to work according to the deviation degree of the position reflected by the first signal and the first calibration position on the first PSD position sensor so as to change the position and posture of the first PSD position sensor and enable the first calibration position on the first PSD position sensor to track the first laser beam;

3. The pose regulating system according to claim 2, wherein the adjusting mechanism includes:

one end of the rotating shaft is used for being connected with the camera device;

4. A pose regulation system according to any one of claims 1-3, wherein the second position sensor comprises a second PSD position sensor;

the pose regulation and control system further comprises:

a second laser for providing a laser beam parallel to the reference plane and at a constant distance from the reference plane;

when the camera device moves, the second PSD position sensor detects the position of the second laser beam on a detection surface of the second PSD position sensor in real time and outputs a second signal;

the second calibration position refers to a position where the second laser beam hits a detection surface of the second PSD position sensor when the camera device photographs the large-sized object to be measured at the target photographing distance.

5. The pose regulating system according to claim 4, wherein the adjusting mechanism includes:

one end of the telescopic shaft is used for being connected with the camera device;

6. A pose regulating method is applied to a pose regulating system for regulating and controlling the pose of a camera device when a large-size object image to be measured is shot in a moving mode, and comprises the following steps:

acquiring a second signal acquired by a second position sensor, wherein the pose of the second position sensor relative to the camera device is kept unchanged; the second signal is used for representing the distance between the camera device and a reference surface; the reference surface is a surface which is parallel to the expected plane of the large-size object to be measured and has a certain distance with the expected plane;

and controlling an adjusting mechanism to adjust the pose of the camera device according to the first signal and the second signal, so that the distance and the shooting angle of the camera device relative to the reference surface are kept unchanged in the moving process.

7. The pose regulating method according to claim 6, wherein the first position sensor is a first PSD position sensor; the step of controlling an adjusting mechanism to adjust the pose of the image pickup apparatus according to the first signal and the second signal includes:

controlling the adjusting mechanism to work according to the deviation degree of the actual position of the first laser beam, which is characterized by the first signal, on the detection surface of the first PSD position sensor and the first calibration position on the detection surface of the first PSD position sensor, so as to change the pose of the first PSD position sensor and enable the first calibration position on the first PSD position sensor to track the first laser beam; the first laser beam is a laser beam which is provided by a first laser and is vertical to the reference surface;

8. The pose regulating method according to claim 6 or 7, characterized in that the second position sensor comprises a second PSD position sensor; the step of controlling an adjusting mechanism to adjust the pose of the image pickup apparatus according to the first signal and the second signal further includes:

controlling the adjusting mechanism to work according to the deviation degree of the actual position of the second laser beam, which is characterized by the second signal, on the detection surface of the second PSD position sensor and the second calibration position on the detection surface of the second PSD position sensor, so as to change the pose of the second PSD position sensor and enable the second calibration position on the second PSD position sensor to track the second laser beam; the second laser beam is a laser beam which is provided by a second laser, is parallel to the reference surface and has a constant distance with the reference surface;

9. A flatness detecting system for detecting the flatness of the surface of a large-sized object to be measured, said system comprising:

the camera device is used for moving and shooting an image of a large-size object to be detected;

the pose modulation system of any one of claims 1-5;

the controller is used for splicing a plurality of images shot in the moving process of the camera device and obtaining the flatness information of the surface of the large-size object to be detected according to the spliced images.

10. The flatness detection system of claim 9, wherein the camera device is a depth camera.

11. A flatness detection method is characterized by being applied to a flatness detection system for detecting the surface flatness of a large-size object to be detected, and the method comprises the following steps:

the steps of the pose regulating method of any one of claims 6-8;

12. A pose regulating and controlling device is applied to a pose regulating and controlling system for regulating and controlling the pose of a camera device when a large-size object image to be measured is shot in a moving mode, and the device comprises:

the shooting distance parameter acquisition module is used for acquiring a second signal acquired by a second position sensor, and the pose of the second position sensor relative to the camera device is kept unchanged; the second signal is used for representing the distance between the camera device and a reference surface; the reference surface is a surface which is parallel to an expected plane of the large-size object to be measured and has a certain distance with the expected plane;

and the pose adjusting execution module is used for controlling an adjusting mechanism to adjust the pose of the camera device according to the first signal and the second signal so as to keep the distance and the shooting angle of the camera device relative to the reference surface unchanged in the moving process.

13. The utility model provides a roughness detection device which characterized in that is applied to the roughness detecting system who detects jumbo size determinand surface flatness, the device includes:

a pose regulation module for performing the steps of the pose regulation method of any one of claims 6-8;

the image acquisition module is used for acquiring an image of a large-size object to be detected shot by the camera device in the moving process;

and the flatness information acquisition module is used for splicing a plurality of images shot in the moving process of the camera device and acquiring the flatness information of the surface of the large-size object to be detected according to the spliced images.

14. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the pose regulating method according to any one of claims 6 to 8 and/or the steps of the flatness detection method according to claim 11 when executing the computer program.

15. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the pose regulating method according to any one of claims 6 to 8 and/or the steps of the flatness detection method according to claim 11.