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Visual sensor global positioning method integrating inertial navigation system

An inertial navigation system and visual sensor technology, applied in the field of visual measurement, can solve the problem of not being able to obtain a sufficient number of marker points

Active Publication Date: 2021-03-12
易思维(杭州)科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of the above problems, the present invention proposes a global positioning method for visual sensors combined with an inertial navigation system. This method can solve the problem that the global positioning device cannot obtain a sufficient number of marker points at some measurement positions (marker points are blocked). Measuring the position, only using the inertial navigation system to assist the visual sensor in the global coordinate system to obtain the position of the blocked measuring position, which is suitable for the global positioning of the measuring points of large-scale components with complex surface shapes, and has the characteristics of convenience and high efficiency

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  • Visual sensor global positioning method integrating inertial navigation system

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Embodiment 1

[0040] A visual sensor global positioning method combined with an inertial navigation system. When a large workpiece to be measured is placed in the detection station, the visual sensor moves to different measurement positions according to the positions of different measurement points on the workpiece to be measured; at the measurement position The visual sensor can collect the three-dimensional information of the measuring point;

[0041] Among them, the visual sensor and inertial navigation system are moved to various measurement positions by hand, or a robot is installed in the detection station, and the visual sensor and inertial navigation system are fixed at the end of the robot;

[0042] There are multiple marker points fixed on the shell of the visual sensor, which are connected to the inertial navigation system through a mechanical mechanism, and the two move synchronously and keep the relative pose unchanged; the conversion relationship RT between the two is calibrate...

Embodiment 2

[0066] A visual sensor global positioning method combined with an inertial navigation system. A robot is installed in the detection station, and the visual sensor and the inertial navigation system are fixed at the end of the robot. The two move synchronously and keep the relative pose unchanged; mark points;

[0067] There is also a global positioning device in the detection station, which is used to collect the position information of multiple marker points and calculate the relationship between the visual sensor coordinate system and the global coordinate system;

[0068] The large workpiece to be measured is placed in the detection station. According to the different positions of the multiple measuring points, there are multiple measuring positions. At each measuring position, the robot stops moving and adjusts its posture to ensure that the visual sensor can collect Three-dimensional information of the measuring point;

[0069] Use the following method to match the corre...

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Abstract

The invention discloses a visual sensor global positioning method integrating an inertial navigation system. The method comprises the steps of: at any measurement position,judging whether a global positioning device can carry out global positioning or not; if so, acquiring a relationship between a visual sensor coordinate system and a global coordinate system and a relationship between the inertial navigation system coordinate system and the global coordinate system by using the global positioning device; if not, acquiring inertial navigation data moving from the previous normal measurement position to the current measurement position in real time by using the inertial navigation system, and resolving the relationship between the visual sensor coordinate system and the global coordinate system by using the inertial navigation data; and carrying out global positioning on the visual sensor at each measurement position, thereby completing three-dimensional measurement of all measurement points of a to-be-measured workpiece. According to the method, global positioning can be carried out at a shielded position, and therefore, the method has the characteristics of convenience and high efficiency.

Description

technical field [0001] The invention relates to the field of visual measurement, in particular to a global positioning method of a visual sensor combined with an inertial navigation system. Background technique [0002] At present, visual measurement has been widely used in the field of industrial manufacturing; for large-scale workpiece detection, it is necessary to set multiple measurement positions, and perform global positioning for each position, and summarize the measurement point information collected by each visual sensor into the global coordinate system , to realize the overall measurement of large workpieces. The existing global positioning method is to obtain the mark points on the visual sensor through a global positioning device such as a photogrammetry system or a laser tracker, and perform global positioning on each visual sensor; also in the public document CN102607457 Disclosed is a large-scale three-dimensional shape measurement device based on inertial na...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/00G01B11/00
CPCG01C21/165G01C21/005G01B11/002Y02P90/02
Inventor 尹仕斌郭寅张楠楠张泽阳
Owner 易思维(杭州)科技有限公司