Sensing data processing method
By fixing the position sensor device on the turntable and performing multi-point testing on the test disk, a circular motion path is fitted, which solves the problem of difficult calibration of sensors of different brands or models, achieves a calibration effect without displacement during rotation, and reduces costs.
Patent Information
- Application Number
- CN202211304386.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-10-24
- Publication Date
- 2025-11-07
- Estimated Expiration
- 2042-10-24
AI Technical Summary
In the existing technology, it is difficult to calibrate position sensors of different brands or models on cameras, resulting in displacement during rotation and high calibration costs.
By fixing the sensor device on the turntable and performing multi-point tests on the test disk, a circular motion path is fitted, and the projection point of the sensor is determined to achieve correction.
Effective calibration of multiple position sensors was achieved, ensuring that rotation did not introduce displacement and reducing calibration costs.
Smart Images
Figure CN115540797B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application provides a data processing method, in particular, a sensing data processing method. BACKGROUND
[0002] Spatial position sensors can obtain position parameters of the sensors, and thus devices using the position sensors have become very common. In most position sensing applications, the data center point of the position sensor does not need to be obtained in a specific position of the sensing device. However, for devices that need to rotate around the data center point in the application, only the change of the rotation amount is generally introduced, and the change of the position amount is not introduced, so as to play a role similar to the axis. The rotation can be a planar rotation or an omnidirectional rotation.
[0003] The spatial position sensor can read spatial position information, and the position sensor can truly reproduce the movement / rotation of the camera. In the prior art, different brands or different models of position sensors can be associated with the camera, and thus different brands or different models of position sensors need to be cooperatively corrected to make the angle of rotating the real camera consistent with the sensing angle of the sensor input into the system. If the position of the sensor cannot be aligned with the optical center position of the camera, rotating the camera through the optical center will not bring any displacement, but the sensor not only brings the rotation amount but also brings the displacement amount.
[0004] In the prior art, the spatial position cannot correspond to the entity of the device equipped with the position sensor without correction. In the prior art, the center point of the sensing data of the position sensor can be determined by using the backstepping method, but this method has a relatively obvious defect, that is, the cost is relatively high. SUMMARY
[0005] The application provides a sensing data processing method for jointly correcting a plurality of position sensors of different brands or different models to determine the center point between the plurality of position sensors.
[0006] To achieve the above object, the application provides a sensing data processing method, which comprises the following steps:
[0007] A turntable is arranged, which can rotate along a central rotating shaft; and a device equipped with a position sensor is fixed at a non-central point position on the turntable;
[0008] A test disc for simulating a to-be-tested plane is arranged; and the device equipped with the position sensor is fixed at an arbitrary position on the test disc;
[0009] In addition to the position of the device equipped with the position sensor, any three positions of the test disc are taken as three test points; for each test point, the following steps are performed respectively: aligning the test point with the center axis position of the turntable, rotating the turntable along the center axis, and recording the position parameters output by the position sensor; fitting the position parameters, and fitting the circular motion path of the position sensor;
[0010] According to the above steps, the fitting circular motion paths of the at least three test points are obtained; the intersection of the three fitting circular motion paths of the three test points is determined as the projection point of the device equipped with the position sensor on the test disc.
[0011] Wherein the device equipped with the position sensor is fixed on the surface of the test disc by cement.
[0012] The beneficial effects of the above technical solutions of the present application are as follows: through the equivalent rigid binding relationship between the test disc and the plurality of measured position sensors, the finally calculated projection point of the measured position sensor is projected onto the white paper. The application of this projection point is to apply the white paper and the sensor to the application scene at the same time, and the application process can be to align the rotation center with the projection point of the white paper, and the rotation axis is perpendicular to the paper surface, so that the rotation does not bring in the displacement of the sensor. BRIEF DESCRIPTION OF DRAWINGS
[0013] Figure 1 The schematic diagram of the device for the test method of the embodiment of the present application;
[0014] Figure 2 The schematic diagram of a fitting circular motion path;
[0015] Figure 3 The schematic diagram of the projection point obtained from three fitting circular motion paths. DETAILED DESCRIPTION
[0016] In order to make the technical problems, technical solutions and advantages to be solved in the present application more clear, the following will be described in detail in combination with the drawings and specific embodiments.
[0017] In order to determine the specific position of the sensor data center point on the device entity equipped with the sensor, the present application provides a method capable of projecting the sensor data center point to a specified plane engineering method. An effective intermediate aid is provided for further calculating the specific position of the projection point in the device entity.
[0018] In existing technologies, position sensors of different brands or models may be associated with cameras. These position sensors can read spatial position information, and their function is to accurately reproduce the camera's movement / rotation. Therefore, it is necessary to perform coordinated calibration on position sensors of different brands or models to ensure that the actual angle of camera rotation matches the sensing angle transmitted by the sensors to the system. If the sensor position is not aligned with the camera's optical center, rotating the camera past the optical center will not introduce any displacement, but the sensor will introduce both rotation and displacement.
[0019] In existing technologies, without calibration, spatial position cannot be mapped to the physical device equipped with the position sensor. While a reverse calculation method can be used to determine the center point of the position sensor's data, this method has a significant drawback: high cost.
[0020] Specifically, such as Figure 1 As shown, a turntable 1 is set up, which can rotate along a central axis. A device 2 equipped with a position sensor is fixed at a non-central position on the turntable. Since the turntable 1 has a central axis, its center point can be easily determined. A test disk 3 (e.g., an A4 sheet of paper) is set up to simulate the plane to be tested. The device 2 equipped with the position sensor is fixed at any position on the test disk; for example, it can be fixed to the test disk using putty or a similar material. Then, three arbitrary positions on the test disk, excluding the position used to fix the device 2, are designated as three test points 4 to test the three position sensors respectively. Of course, more test points 4 can be set, as long as each position sensor has at least one test point. Its working principle is that the test disk 3 (e.g., a piece of white paper) and the multiple position sensors under test have a rigid body binding relationship, and the calculated projection point of the position sensor under test is projected onto the white paper. The process of applying this projection point involves simultaneously applying the white paper and the sensor to the application scenario. The application process can be to align the center of rotation with the projection point on the white paper, with the rotation axis perpendicular to the paper surface. In this case, the rotation will not introduce displacement of the sensor.
[0021] like Figures 1-3 As shown, for each test point 4, the following steps are performed:
[0022] Align the test point with the central axis of turntable 1, rotate turntable 1 along the central axis 3, and record the position parameters output by the position sensor; fit these position parameters to obtain, as shown below. Figure 2 The position sensor shown is fitted to a circular motion path. In this embodiment, the turntable 1 needs to rotate at least one revolution to obtain the path used for fitting.Figure 2 The position parameter 10 output by the position sensor is shown in the circular motion path. Therefore, the number of rotations of the turntable 1 can be determined through multiple experiments, and this embodiment does not limit this.
[0023] Each test point 4 can be a position sensor, and these position sensors can be position sensors of different brands or different models.
[0024] Based on the preceding steps, a fitted circular motion path 5 is obtained for at least three test points 4, where the circular motion path 5 has a fitting radius 6. This allows for... Figure 3 As shown, the intersection point 7 of the three fitted circular motion paths 5 of the three test points 4 is determined as the projection point of the device 2 equipped with the position sensor on the test disk 3.
[0025] like Figure 3 The example shown is that three tests were performed on the test disk 3, that is, three tests were performed on three test points: test point 31, test point 32, and test point 33; three fitted circular motion paths were obtained: fitted circular motion path 51, fitted circular motion path 52, and fitted circular motion path 53; the projected radii of these three fitted circular motion paths are radii 61, 62, and 63, respectively.
[0026] For applications that require determining the location of a location sensor data center point within a device entity, the technical solution of this disclosure proposes an effective engineering method for obtaining the projection point of the calculation sensor on a specified plane.
[0027] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.
[0028] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A method for processing sensor data, comprising: providing a turntable, which is rotatable about a central axis of rotation; fixing a device equipped with a position sensor at a non-central point on the turntable; providing a test disc for simulating a plane to be measured; fixing the device equipped with a position sensor at an arbitrary point on the test disc; selecting three test points on the test disc, which are arbitrary points other than the point on the test disc at which the device equipped with a position sensor is fixed; for each test point, performing the following steps: aligning the test point with the central axis of rotation of the turntable, rotating the turntable about the central axis of rotation, and recording the position parameters output by the position sensor; fitting the position parameters to a circular motion path of the position sensor; determining a fitted circular motion path of the position sensor for each of the three test points; and determining the intersection of the three fitted circular motion paths of the three test points as the projection point of the device equipped with a position sensor on the test disc.
2. The method according to claim 1, wherein the device equipped with a position sensor is fixed to the surface of the test disc by means of adhesive.
Citation Information
Patent Citations
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