Pose measurement method, system and device and measurement equipment

Abstract

The invention discloses a pose measurement method, system and device and measurement equipment, in the scheme, target coordinates of a first point, a second point, a third point and a fourth point calibrated by a calibration device in a target coordinate system are obtained through a total station, then a preset mark coordinate system of to-be-measured equipment is constructed, and a conversion matrix T1 between the to-be-measured equipment and the target coordinate system is obtained; a conversion matrix T2 exists between the preset mark coordinate system and the preset equipment coordinate system; and obtaining the pose of the to-be-tested equipment in the target coordinate system through the transformation matrix T1 * T2. The method is applied to the field of pose measurement, a conversion relation between a preset equipment coordinate system and a target coordinate system is established through a preset mark coordinate system, then the pose of to-be-measured equipment can be obtained, and only one calibration device needs to be installed on the to-be-measured equipment, so that the pose of the to-be-measured equipment can be obtained. The preset mark coordinate system can be constructed through the first point, the reflected second point and the reflected third point, the installation position is free, the mark coordinate system can be installed at any position which cannot be shielded, and practicability is high.

Description

technical field [0001] The present invention relates to the technical field of pose measurement, in particular to a pose measurement method, system, device and measurement equipment. Background technique [0002] In the process of digital construction where intelligent equipment is applied to tunnels, there is a strong demand for accurate measurement of the pose between the intelligent equipment and the tunnel coordinate system. For example, in the process of digital construction of tunnels, in order to ensure that the intelligent equipment collects and records construction data information in real time, it is necessary to establish an accurate pose between the intelligent equipment and the tunnel coordinate system to ensure that the construction data information collected during the construction process is consistent with the actual construction. The data information is consistent, so as to guide the construction and provide effective and reliable data information for the s...

AI Technical Summary

Problems solved by technology

[0004] Due to the limited position where multiple prisms with a certain distance can be installed on the smart equipment, there are situations where the prisms are blocked. For example, the robotic arm of the smart equipment may block the prisms during the movement. Receive the reflected light of the prism, and the coordinates of the prism on the target coordinate system cannot be obtained, and the preset device coordinate system cannot be obtained through the coordinates, which is less practical

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