A planar structure spatial posture detection method, device, equipment and medium

Abstract

The application discloses a spatial posture detection method and device of a planar structure, electronic equipment and a storage medium. The method is executed by a spatial posture detection device, and the spatial posture detection device comprises a measuring device. The measuring device is used for collecting measurement data. The method comprises the following steps: acquiring distance data of three ranging units through the measuring device; determining a normal vector of a to-be-detected planar structure according to the distance data of the three ranging units and a preset included angle between measurement axes of each two ranging units; and determining a spatial posture detection result of the to-be-detected planar structure according to the normal vector of the to-be-detected planar structure and a normal vector of a reference plane determined in advance. The technical scheme solves the problems of high cost and complex measurement of the existing spatial posture detection mode, and can realize simple measurement of the spatial posture, reduce the detection cost and improve the accuracy of the spatial posture detection of the planar structure.

Description

Technical Field

[0001] This invention relates to the field of spatial structure positioning technology, and in particular to a spatial attitude detection method, device, electronic device and storage medium for planar structures. Background Technology

[0002] Currently, spatial attitude detection of structures is widely used in fields such as architecture and industrial automation. It is mainly used to detect the attitude of key structures and to achieve spatial positioning of structures in combination with other hardware devices.

[0003] For spatial attitude detection, existing technologies typically employ equipment such as radar or total stations. Radar detection is highly adaptable, capable of detecting the spatial attitude of most structures, and the results are presented in a 3D model, offering a relatively intuitive view. However, the equipment is expensive, requires a computer for operation, is complex to use, and is inconvenient for outdoor field operations. Total station detection requires manual operation during the process, making it difficult to achieve 24 / 7 automated detection. Furthermore, total station results are not presented intuitively, and obtaining measurement results is complex.

[0004] Therefore, there is an urgent need for a spatial attitude detection method that is easy to measure and can be automated in all weather conditions for planar structures. Summary of the Invention

[0005] This invention provides a spatial attitude detection method, device, electronic device, and storage medium for planar structures to solve the problems of high cost and complex measurement in existing spatial attitude detection methods. It can reduce detection costs and improve the accuracy of spatial attitude detection for planar structures while achieving simple spatial attitude measurement.

[0006] According to one aspect of the present invention, a spatial attitude detection method for a planar structure is provided. The method is executed by a spatial attitude detection device, which includes a measuring device and a self-balancing device. The measuring device is used to acquire measurement data, and the self-balancing device is used to stabilize the attitude of the measuring device. The measuring device includes three ranging units, the measuring axes of the three ranging units originating from the same point, a preset angle between the measuring axes of any two ranging units, and the three ranging points of the three ranging units on the planar structure to be measured are not collinear. The method includes:

[0007] Distance data from three ranging units is acquired using measuring devices;

[0008] Based on the distance data from the three ranging units and the preset angle between the measuring axes of every two ranging units, the normal vector of the plane structure to be measured is determined.

[0009] The spatial attitude detection result of the planar structure under test is determined based on the normal vector of the planar structure under test and the normal vector of the pre-determined reference plane.

[0010] According to another aspect of the present invention, a spatial attitude detection device for a planar structure is provided. The device is configured within a spatial attitude detection equipment, which includes a measuring device and a self-balancing device. The measuring device is used to acquire measurement data, and the self-balancing device is used to stabilize the attitude of the measuring device. The measuring device includes three ranging units, the measuring axes of the three ranging units originating from the same point, a preset angle between the measuring axes of any two ranging units, and the three ranging points of the three ranging units on the planar structure to be measured are not collinear. The device includes:

[0011] The distance data acquisition module is used to acquire distance data from three ranging units through a measuring device;

[0012] The normal vector determination module is used to determine the normal vector of the plane structure to be measured based on the distance data of the three ranging units and the preset angle between the measuring axes of every two ranging units.

[0013] The detection result determination module is used to determine the spatial attitude detection result of the planar structure under test based on the normal vector of the planar structure under test and the normal vector of a pre-determined reference plane.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the spatial attitude detection method for planar structures according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the spatial attitude detection method for a planar structure according to any embodiment of the present invention.

[0019] The technical solution of this invention acquires distance data from three ranging units using a measuring device; determines the normal vector of the planar structure under test based on the distance data from the three ranging units and a preset angle between the measuring axes of every two ranging units; and determines the spatial attitude detection result of the planar structure under test based on the normal vector of the planar structure under test and the normal vector of a pre-determined reference plane. This solution solves the problems of high cost and complex measurement in existing spatial attitude detection methods, and can reduce detection costs and improve the accuracy of spatial attitude detection for planar structures while achieving simple spatial attitude measurement.

[0020] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1A This is a flowchart of a spatial attitude detection method for a planar structure according to Embodiment 1 of the present invention;

[0023] Figure 1B This is a schematic diagram of the structure of a spatial attitude detection device according to Embodiment 1 of the present invention;

[0024] Figure 2A This is a flowchart of a spatial attitude detection method for a planar structure according to Embodiment 2 of the present invention;

[0025] Figure 2B This is a schematic diagram of the spatial attitude detection principle of a planar structure according to Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram of a planar spatial attitude detection device according to Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the spatial attitude detection method for a planar structure according to an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, apparatus, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices. The acquisition, storage, use, and processing of data in the technical solutions of this application all comply with the relevant provisions of national laws and regulations.

[0030] Example 1

[0031] Figure 1A This is a flowchart illustrating a spatial attitude detection method for planar structures according to Embodiment 1 of the present invention. This embodiment is applicable to spatial attitude detection scenarios for planar structures in fields such as architecture and industrial automation. The method can be executed by a spatial attitude detection device for planar structures, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1A As shown, the method includes:

[0032] S110. Obtain distance data from the three ranging units using a measuring device.

[0033] This solution can be executed by a space attitude detection device. Figure 1B This is a structural schematic diagram of a spatial attitude detection device according to Embodiment 1 of the present invention. Figure 1B The left side of the image shows the front view of the spatial attitude detection device, and the right side shows its side view. (See image for reference.) Figure 1B As shown, the space attitude detection device includes a main body, a cantilever, a support, and two balance rudders.

[0034] The measuring device of the space attitude detection equipment is arranged on the main body. The measuring device is used to collect measurement data. The measuring device includes three ranging units, whose measuring axes all start from the same point. There is a preset angle between the measuring axes of any two ranging units. The three ranging points of the three measuring units on the plane structure under test are not collinear. A cantilever, balancing rudder A, and balancing rudder B can constitute a self-leveling device for stabilizing the attitude of the measuring device. Through the cantilever, the measuring device can... Figure 1B The two axes indicated by the middle arrow rotate. Balance rudders A and B are fixed to the main body. By adjusting the mass, position, and other properties of the two balance rudders, the relative attitude of the measuring device and the reference plane can be kept fixed under the influence of gravity. The reference plane can be a horizontal plane, that is, a plane perpendicular to the direction of gravity.

[0035] The main body of the spatial attitude detection equipment can house processors, memory, and other devices to perform information processing and storage. The spatial attitude detection equipment can measure the distance from the starting point to the ending point of three ranging units using measuring devices. The ending point can be the distance measurement position of the measuring unit's measuring axis on the plane structure under test, i.e., the intersection of the measuring unit's measuring axis and the plane structure under test. The plane structure under test can be a plane of the object being measured. The measuring units can perform distance measurement based on ranging principles such as laser or ultrasonic waves.

[0036] Specifically, the distance data of the three ranging units include the distance from the starting point of the measuring axis of the first ranging unit to the matching ranging position point on the plane structure to be measured, the distance from the starting point of the measuring axis of the second ranging unit to the matching ranging position point on the plane structure to be measured, and the distance from the starting point of the measuring axis of the third ranging unit to the matching ranging position point on the plane structure to be measured.

[0037] S120. Determine the normal vector of the plane structure to be measured based on the distance data of the three ranging units and the preset angle between the measuring axes of every two ranging units.

[0038] After obtaining the distance data from the three ranging units, the spatial attitude detection device can construct a spatial rectangular coordinate system. Based on the distance data from the three ranging units and the preset angle between the measurement axes of every two ranging units, the normal vector of the plane structure under test is calculated in the spatial rectangular coordinate system. The spatial attitude detection device can establish a spatial rectangular coordinate system with the common ranging starting point of the three ranging units as the origin, determine the coordinates of the three ranging position points on the plane structure under test, and then determine the normal vector of the plane structure under test based on the coordinates of the three non-collinear ranging position points.

[0039] S130. Determine the spatial attitude detection result of the plane structure under test based on the normal vector of the plane structure under test and the normal vector of the pre-determined reference plane.

[0040] After obtaining the normal vector of the plane structure to be tested, the spatial attitude detection device can determine the plane angle between the plane structure to be tested and the reference plane based on the normal vector of the plane structure to be tested and the normal vector of the pre-determined reference plane, and thus obtain the spatial attitude detection result of the plane to be tested.

[0041] This technical solution acquires distance data from three ranging units using a measuring device; based on the distance data from the three ranging units and the preset angle between the measuring axes of every two ranging units, the normal vector of the planar structure under test is determined; and based on the normal vector of the planar structure under test and the normal vector of a pre-determined reference plane, the spatial attitude detection result of the planar structure under test is determined. This solution solves the problems of high cost and complex measurement in existing spatial attitude detection methods, and can reduce detection costs and improve the accuracy of spatial attitude detection for planar structures while achieving simple spatial attitude measurement.

[0042] Example 2

[0043] Figure 2A This is a flowchart illustrating a spatial attitude detection method for a planar structure, provided in Embodiment 2 of the present invention. This embodiment is a refinement based on the above embodiment. Figure 2A As shown, the method includes:

[0044] S210. Obtain distance data from the three ranging units using a measuring device.

[0045] Optionally, in this solution, after acquiring the distance data of the three ranging units through the measuring device, the method further includes:

[0046] The distance data of the three ranging units are calibrated and updated based on predetermined calibration coefficients; wherein the calibration coefficients are determined based on the lengths of the line segments intercepted by the three measuring axes of the three ranging units in two parallel planes.

[0047] Understandably, when deploying three ranging units in the measurement devices of a space attitude detection device, angular deviations can easily occur, resulting in inconsistent measurement starting points for the measurement axes of the three ranging units. Therefore, after acquiring the distance data from the three ranging units, it is necessary to calibrate the distance data to achieve reliable space attitude detection.

[0048] Specifically, after installation, the space attitude detection equipment can undergo automated calibration to determine calibration coefficients. The correction principle can be based on the fact that three rays sharing a common origin are intersected by two parallel planes, resulting in proportionally long line segments. In a specific scheme, the measurement axes of the three ranging units are intercepted by the first plane at lengths l1, l2, and l3, respectively, and by the second plane at lengths l1... ′ l2 ′ and l3 ′ If the measurement axes of the three measurement units share a common starting point, then l1, l2, and l3 are related to l1. ′ l2 ′ and l3 ′ There is a proportional relationship: In practical applications, if the starting points of the measurement axes of the three ranging units are not the same, then a proportional relationship exists: Where k2 and k3 are calibration coefficients for the distance data of the second and third ranging units, respectively. It is a constant. According to the above formula, k2=(l2·l1) ′ -l2 ′ ·l1) / (l1-l1 ′ ), k3=(l3·l1) ′ -l3 ′ ·l1) / (l1-l1 ′ Similarly, spatial attitude detection equipment can also use the distance data of the second or third ranging unit as a reference to determine the calibration coefficients of the distance data of the other two ranging units.

[0049] S220. Determine the first included angle, the second included angle, and the third included angle.

[0050] Wherein, the first included angle is the angle between the measurement axis of the first ranging unit and the target coordinate axis of the pre-constructed reference coordinate system; the second included angle is the angle between the measurement axis of the second ranging unit and the target coordinate axis of the pre-constructed reference coordinate system; the third included angle is the angle between the measurement axis of the third ranging unit and the target coordinate axis of the pre-constructed reference coordinate system; the origin of the reference coordinate system is the measurement starting point of the measurement axes of the three ranging units. The target coordinate axis can be the X-axis in the reference coordinate system. Figure 2B This is a schematic diagram of the spatial attitude detection principle of a planar structure according to Embodiment 2 of the present invention. The first included angle can be as follows: Figure 2B The included angle α shown can be as follows: Figure 2B The included angle β1 shown can be the third included angle as follows: Figure 2B The β2 angle shown.

[0051] Spatial attitude detection equipment can pre-establish, such as Figure 2BThe reference coordinate system shown is, for example, a spatial rectangular coordinate system established with the deployment positions of the three ranging units as the origin. The spatial attitude detection device can make one coordinate axis (e.g., the X-axis) of the spatial rectangular coordinate system perpendicular to two pre-set parallel planes. The spatial attitude detection device can use the two parallel planes to intercept the measurement axes of the three ranging units and mark the ranging position points on each plane. It is easy to understand that the spatial attitude detection device can obtain a set of coordinate parameters on each plane through the spatial rectangular coordinate system, and each set of coordinate parameters includes the coordinate values ​​of at least two ranging position points. Since there is a certain distance between the two parallel planes, the two sets of coordinate parameters are different. Based on the two sets of coordinate parameters, the spatial attitude detection device can calculate the first included angle, the second included angle, and the third included angle.

[0052] In another feasible approach, the spatial attitude detection device can also set up a projection plane, intercept the measurement axes of the three ranging units, and mark the ranging position points on this plane. Using a direction perpendicular to the projection plane as a coordinate axis, two positions on this coordinate axis are taken as origins to establish two spatial rectangular coordinate systems. Two sets of coordinate parameters read from the two spatial rectangular coordinate systems are used to calculate the first, second, and third included angles.

[0053] In a specific scheme, the three ranging positions on the projection plane are A, B, and C. The spatial attitude detection device can place one of the three ranging positions, such as point A, on a coordinate axis perpendicular to the projection plane, such as the X-axis. Two sets of coordinate parameters are obtained in two spatial Cartesian coordinate systems: the coordinate values ​​of point B and point C in both coordinate systems. For example, B could be: (x...) b1 ,y b1 ,z b1 ),(x b2 ,y b2 ,z b2 C:(x) c1 ,y c1 ,z c1 ),(x c2 ,y c2 ,z c2 ).

[0054] Based on the coordinates of point A, points B, and C, the spatial attitude detection device can obtain the direction vectors of the measurement axes of the three ranging units. For example, it could be...

[0055] Based on the direction vectors of the three measurement axes, the spatial attitude detection device can obtain the normal vector of the plane XOY determined by measurement axis a and measurement axis b. This allows us to determine the projection vector of the measurement axis c onto the XOY plane, i.e.:

[0056] Based on the direction vector of the third measuring axis The normal vector of the plane determined based on the first and second measurement axes. and the projection vector of the third measurement axis onto the plane determined based on the first and second measurement axes. Spatial attitude detection equipment can calculate the sine value of the first included angle α, that is...

[0057] Based on the direction vector of the first measurement axis and the projection vector of the third measurement axis onto the plane determined based on the first and second measurement axes. Spatial attitude detection equipment can calculate the cosine value of the second included angle β1, that is...

[0058] According to the direction vector of the second measuring axis and the projection vector of the third measurement axis onto the plane determined based on the first and second measurement axes. Spatial attitude detection equipment can calculate the cosine value of the third included angle β2, that is...

[0059] It is easy to understand that the spatial attitude detection device can determine the first included angle based on the sine value of the first included angle α; the spatial attitude detection device can determine the second included angle based on the cosine value of the second included angle β1; and the spatial attitude detection device can determine the third included angle based on the cosine value of the third included angle β2.

[0060] S230. Based on the distance data of the three ranging units, the first included angle, the second included angle, and the third included angle, determine the normal vector of the plane structure to be measured.

[0061] like Figure 2B As shown, the three distance measurement points on the plane structure to be measured are L1, L2, and L3. The distances from the measurement starting point to the distance measurement point matched by each distance measurement unit are l1, l2, and l3, respectively. The normal vector of the plane structure to be measured in the reference coordinate system can be expressed as: Among them, x=(l1cosβ1-l2cosβ2)·l3·sinα;

[0062] y=(l1sinβ1+l2sinβ2)·l3·sinα;

[0063] z=l1·l2·sin(β1+β2)-l2·l3·sinβ2·cosα-l1·l3·sinβ1·cosα.

[0064] S240. Determine the spatial attitude detection result of the planar structure under test based on the normal vector of the planar structure under test and the normal vector of the pre-determined reference plane.

[0065] In one feasible solution, the spatial attitude detection device further includes a self-balancing device, which is used to stabilize the attitude of the measuring device; the process of determining the normal vector of the reference plane includes:

[0066] When the measuring device is brought to a stationary position by a self-leveling device, a first plane and a second plane are determined; wherein both the first plane and the second plane are perpendicular to the reference plane, and the first plane and the second plane are not parallel.

[0067] Determine the normal vectors of the first plane and the second plane, and based on the normal vectors of the first plane and the second plane, determine the normal vector of the reference plane.

[0068] When the spatial attitude detection device stabilizes the relative attitude of the measuring device with respect to a reference plane using a self-leveling device, it determines a first plane and a second plane based on the reference plane. The reference plane can be a horizontal plane, and both the first and second planes are perpendicular to the reference plane, but not parallel to it.

[0069] A spatial attitude detection device can determine the normal vector of a first plane based on the direction vectors of two intersecting lines in the first plane. Similarly, a spatial attitude detection device can determine the normal vector of a second plane based on the direction vectors of two intersecting lines in the second plane.

[0070] Since both the first and second planes are perpendicular to the reference plane, and are not parallel, the spatial attitude detection device can determine the normal vector of the reference plane based on the normal vectors of the first and second planes. Specifically, the normal vector of the first plane can be expressed as... The normal vector of the second plane can be expressed as The normal vector of the reference plane can be expressed as:

[0071] In this embodiment, optionally, the spatial attitude detection result includes the angle between the planar structure under test and the reference plane; determining the spatial attitude detection result of the planar structure under test based on the normal vector of the planar structure under test and the pre-determined normal vector of the reference plane includes:

[0072] Based on the normal vector of the plane structure to be measured and the normal vector of the pre-determined reference plane, determine the cosine value of the angle between the plane structure to be measured and the reference plane.

[0073] The angle between the plane structure to be measured and the reference plane is determined based on the cosine value.

[0074] After obtaining the normal vectors of the planar structure under test and the reference plane, the space attitude detection device can calculate the cosine of the angle between the planar structure under test and the reference plane based on these vectors. Based on the cosine value and the cosine function, the spatial attitude detection device can determine the angle between the plane structure under test and the reference plane.

[0075] In a preferred embodiment, the spatial attitude detection device further includes an angle sensing device;

[0076] After determining the angle between the plane structure to be measured and the reference plane, the method further includes:

[0077] The angle sensing device determines the comparison result between the attitude of the measuring device and the preset attitude;

[0078] Based on the comparison results, the angle between the plane structure to be measured and the reference plane is corrected to obtain the corrected angle.

[0079] Understandably, due to factors such as vibration and changes in the measurement task, the attitude of the measuring device may change during the ranging process, and the measuring device cannot always maintain a preset attitude. Therefore, the spatial attitude detection device can acquire the attitude of the measuring device through an angle sensing device, compare the attitude of the measuring device with the preset attitude, and correct the angle between the measured planar structure and the reference plane based on the comparison result. The comparison result can include the orientation and angle of the measuring device's attitude deviation from the preset attitude. The spatial attitude detection device can compensate for the angle between the measured planar structure and the reference plane based on the orientation and angle of the measuring device's attitude deviation from the preset attitude, thereby obtaining an accurate corrected angle.

[0080] This technical solution acquires distance data from three ranging units using a measuring device; based on the distance data from the three ranging units and the preset angle between the measuring axes of every two ranging units, the normal vector of the planar structure under test is determined; and based on the normal vector of the planar structure under test and the normal vector of a pre-determined reference plane, the spatial attitude detection result of the planar structure under test is determined. This solution solves the problems of high cost and complex measurement in existing spatial attitude detection methods, and can reduce detection costs and improve the accuracy of spatial attitude detection for planar structures while achieving simple spatial attitude measurement.

[0081] Example 3

[0082] Figure 3This is a schematic diagram of a spatial attitude detection device for a planar structure provided in Embodiment 3 of the present invention. The device is configured within a spatial attitude detection equipment, which includes a measuring device for acquiring measurement data. The measuring device includes three ranging units, the starting point of the measuring axes of the three ranging units is the same location point, and there is a preset angle between the measuring axes of every two ranging units. The three ranging points of the three ranging units on the planar structure to be measured are not collinear. Figure 3 As shown, the device includes:

[0083] The distance data acquisition module 310 is used to acquire distance data of three ranging units through a measuring device;

[0084] The normal vector determination module 320 is used to determine the normal vector of the plane structure to be measured based on the distance data of the three ranging units and the preset angle between the measuring axes of every two ranging units.

[0085] The detection result determination module 330 is used to determine the spatial attitude detection result of the plane structure under test based on the normal vector of the plane structure under test and the normal vector of a pre-determined reference plane.

[0086] In this scheme, optionally, the distance data of the three ranging units include the distance from the starting point of the measuring axis of the first ranging unit to the matching ranging position point on the plane structure to be measured, the distance from the starting point of the measuring axis of the second ranging unit to the matching ranging position point on the plane structure to be measured, and the distance from the starting point of the measuring axis of the third ranging unit to the matching ranging position point on the plane structure to be measured.

[0087] Based on the above scheme, optionally, the normal vector determination module 320 is specifically used for:

[0088] Determine the first included angle, the second included angle, and the third included angle; wherein, the first included angle is the angle between the measurement axis of the first ranging unit and the target coordinate axis of the pre-constructed reference coordinate system; the second included angle is the angle between the measurement axis of the second ranging unit and the target coordinate axis of the pre-constructed reference coordinate system; the third included angle is the angle between the measurement axis of the third ranging unit and the target coordinate axis of the pre-constructed reference coordinate system; the origin of the reference coordinate system is the measurement starting point of the measurement axes of the three ranging units;

[0089] Based on the distance data from the three ranging units, the first included angle, the second included angle, and the third included angle, the normal vector of the plane structure to be measured is determined.

[0090] In a preferred embodiment, the distance data acquisition module 310 is further configured to calibrate and update the distance data of the three ranging units based on a predetermined calibration coefficient; wherein the calibration coefficient is determined based on the lengths of the line segments intercepted by the three measuring axes of the three ranging units in two parallel planes.

[0091] In one feasible embodiment, the spatial attitude detection device further includes a self-balancing device for stabilizing the attitude of the measuring device; the device also includes a reference normal vector determination module for:

[0092] When the measuring device is brought to a stationary position by a self-leveling device, a first plane and a second plane are determined; wherein both the first plane and the second plane are perpendicular to the reference plane, and the first plane and the second plane are not parallel.

[0093] Determine the normal vectors of the first plane and the second plane, and based on the normal vectors of the first plane and the second plane, determine the normal vector of the reference plane.

[0094] In this embodiment, optionally, the spatial attitude detection result includes the angle between the plane structure to be tested and the reference plane;

[0095] The detection result determination module 330 is specifically used for:

[0096] Based on the normal vector of the plane structure to be measured and the normal vector of the pre-determined reference plane, determine the cosine value of the angle between the plane structure to be measured and the reference plane.

[0097] The angle between the plane structure to be measured and the reference plane is determined based on the cosine value.

[0098] Based on the above scheme, the spatial attitude detection device also includes an angle sensing device;

[0099] The device also includes an angle correction module for:

[0100] The angle sensing device determines the comparison result between the attitude of the measuring device and the preset attitude;

[0101] Based on the comparison results, the angle between the plane structure to be measured and the reference plane is corrected to obtain the corrected angle.

[0102] The spatial attitude detection device for planar structures provided in the embodiments of the present invention can execute the spatial attitude detection method for planar structures provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0103] Example 4

[0104] Figure 4A schematic diagram of an electronic device 410 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0105] like Figure 4 As shown, the electronic device 410 includes at least one processor 411 and a memory, such as a read-only memory (ROM) 412 or a random access memory (RAM) 413, communicatively connected to the at least one processor 411. The memory stores computer programs executable by the at least one processor. The processor 411 can perform various appropriate actions and processes based on the computer program stored in the ROM 412 or loaded from storage unit 418 into the RAM 413. The RAM 413 may also store various programs and data required for the operation of the electronic device 410. The processor 411, ROM 412, and RAM 413 are interconnected via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0106] Multiple components in electronic device 410 are connected to I / O interface 415, including: input unit 416, such as keyboard, mouse, etc.; output unit 417, such as various types of displays, speakers, etc.; storage unit 418, such as disk, optical disk, etc.; and communication unit 419, such as network card, modem, wireless transceiver, etc. Communication unit 419 allows electronic device 410 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0107] Processor 411 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 411 performs the various methods and processes described above, such as spatial pose detection methods for planar structures.

[0108] In some embodiments, the planar structure spatial attitude detection method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 418. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 410 via ROM 412 and / or communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the planar structure spatial attitude detection method described above can be performed. Alternatively, in other embodiments, processor 411 can be configured to perform the planar structure spatial attitude detection method by any other suitable means (e.g., by means of firmware).

[0109] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0111] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0112] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0113] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0114] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0115] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0116] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for spatial attitude detection of a planar structure, characterized in that, The method is executed by a spatial attitude detection device, which includes a measuring device and a self-leveling device. The measuring device is used to collect measurement data. The measuring device includes three ranging units. The starting point of the measuring axes of the three ranging units is the same position point. The measuring axes of every two ranging units are at a preset angle. The three ranging positions of the three ranging units on the plane structure to be measured are not collinear. The self-balancing device is used to stabilize the attitude of the measuring device; the method includes: Distance data from three ranging units is obtained through a measuring device; Based on the distance data from the three ranging units and the preset angle between the measuring axes of every two ranging units, the normal vector of the plane structure to be measured is determined. Based on the normal vector of the planar structure under test and the normal vector of the pre-determined reference plane, the spatial attitude detection result of the planar structure under test is determined. The process of determining the normal vector of the reference plane includes: When the measuring device is brought to a stationary position by a self-leveling device, a first plane and a second plane are determined; wherein both the first plane and the second plane are perpendicular to the reference plane, and the first plane and the second plane are not parallel. Determine the normal vectors of the first plane and the second plane, and based on the normal vectors of the first plane and the second plane, determine the normal vector of the reference plane.

2. The method according to claim 1, characterized in that, The distance data of the three ranging units include the distance from the starting point of the measuring axis of the first ranging unit to the matching ranging position point on the plane structure to be measured, the distance from the starting point of the measuring axis of the second ranging unit to the matching ranging position point on the plane structure to be measured, and the distance from the starting point of the measuring axis of the third ranging unit to the matching ranging position point on the plane structure to be measured.

3. The method according to claim 2, characterized in that, The step of determining the normal vector of the plane structure to be measured based on the distance data from the three ranging units and the preset angle between the measuring axes of every two ranging units includes: Determine the first included angle, the second included angle, and the third included angle; wherein, the first included angle is the angle between the measurement axis of the first ranging unit and the target coordinate axis of the pre-constructed reference coordinate system; the second included angle is the angle between the measurement axis of the second ranging unit and the target coordinate axis of the pre-constructed reference coordinate system; the third included angle is the angle between the measurement axis of the third ranging unit and the target coordinate axis of the pre-constructed reference coordinate system; the origin of the reference coordinate system is the measurement starting point of the measurement axes of the three ranging units; Based on the distance data from the three ranging units, the first included angle, the second included angle, and the third included angle, the normal vector of the plane structure to be measured is determined.

4. The method according to claim 1, characterized in that, After acquiring distance data from the three ranging units using a measuring device, the method further includes: The distance data of the three ranging units are calibrated and updated based on predetermined calibration coefficients; wherein the calibration coefficients are determined based on the lengths of the line segments intercepted by the three measuring axes of the three ranging units in two parallel planes.

5. The method according to claim 1, characterized in that, The spatial attitude detection result includes the angle between the plane structure under test and the reference plane; The step of determining the spatial attitude detection result of the planar structure under test based on the normal vector of the planar structure under test and the normal vector of a pre-determined reference plane includes: Based on the normal vector of the plane structure to be measured and the normal vector of the pre-determined reference plane, determine the cosine value of the angle between the plane structure to be measured and the reference plane. The angle between the plane structure to be measured and the reference plane is determined based on the cosine value.

6. The method according to claim 5, characterized in that, The spatial attitude detection device also includes an angle sensing device; After determining the angle between the plane structure to be measured and the reference plane, the method further includes: The angle sensing device determines the comparison result between the attitude of the measuring device and the preset attitude; Based on the comparison results, the angle between the plane structure to be measured and the reference plane is corrected to obtain the corrected angle.

7. A spatial attitude detection device for a planar structure, characterized in that, The device is configured in a space attitude detection equipment, which includes a measuring device and a self-balancing device. The measuring device is used to collect measurement data, and the self-balancing device is used to stabilize the attitude of the measuring device. The measuring device includes three ranging units, the starting point of the measuring axes of the three ranging units is the same position point, the measuring axes of every two ranging units are at a preset angle, and the three ranging positions of the three ranging units on the plane structure to be measured are not collinear. The device includes: The distance data acquisition module is used to acquire distance data from three ranging units through a measuring device; The normal vector determination module is used to determine the normal vector of the plane structure to be measured based on the distance data of the three ranging units and the preset angle between the measuring axes of every two ranging units. The detection result determination module is used to determine the spatial attitude detection result of the planar structure under test based on the normal vector of the planar structure under test and the normal vector of a pre-determined reference plane. The device further includes a reference normal vector determination module, used to determine a first plane and a second plane when the measuring device is stationary in a preset posture by a self-leveling device; wherein the first plane and the second plane are both perpendicular to the reference plane and are not parallel; the normal vector of the first plane and the normal vector of the second plane are determined, and the normal vector of the reference plane is determined based on the normal vector of the first plane and the normal vector of the second plane.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the spatial attitude detection method for the planar structure according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the spatial attitude detection method for the planar structure as described in any one of claims 1-6.

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