A common target laser vision high-precision relative posture measurement method and device

Abstract

The present invention discloses a common target laser vision high-precision relative posture measurement method and device, belonging to the field of spatial measurement technology. The method is implemented by a measurement device in a measurement system, which also includes a monocular vision camera and a laser ranging module. The monocular vision camera and the laser ranging module share the same cooperative target array. The cooperative target array includes at least three corner cube prisms, which are formed into a three-dimensional configuration. Each corner cube prism has a high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module. The present invention can achieve the fusion of high-precision visual angle measurement capability and high-precision laser ranging capability by sharing the cooperative target array, and realize high-precision measurement of the six-degree-of-freedom relative posture of the target. In addition, the laser ranging module completes the azimuth capture of the cooperative target array under the measurement guidance of the monocular vision camera, which is conducive to the fusion of laser measurement and visual measurement results, thereby controlling measurement errors and improving measurement accuracy.

Description

Technical Field

[0001] The present invention relates to the field of space measurement technology, and in particular to a common-target laser vision high-precision relative posture measurement method and device. Background Art

[0002] Six-degree-of-freedom relative pose measurement involves two objects: a measurement system and a target system. Based on their configurational characteristics, their respective intrinsic coordinate systems are established. The purpose of relative pose measurement is to determine the rotational (relative attitude) and translational (relative position) relationships between these two intrinsic coordinate systems. In the field of space technology, relative pose measurement has a wide range of applications in satellite formation control, baseline measurement, and onboard structure monitoring.

[0003] Current six-degree-of-freedom relative pose measurement relies on monocular vision measurement technology based on perspective-n-point (PnP) positioning. This technology typically uses a cooperative target array as feature points in the target system. A monocular camera then images these points using the pinhole imaging principle to establish a system of equations representing the relative pose relationship between the camera and target coordinate systems. The relative pose is then solved. However, the monocular camera measurement results lack target depth information, and the model lacks constraints on the target position in the line of sight, resulting in poor accuracy in target position measurement in this direction. Summary of the Invention

[0004] The present invention provides a common target laser vision high-precision relative posture measurement method and device, which can solve the problem of poor measurement accuracy in related technologies. The technical solution is as follows:

[0005] On the one hand, a common target laser vision high-precision relative pose measurement method is provided, which is implemented by a measurement device in a measurement system. The measurement system also includes a monocular vision camera and a laser ranging module. The monocular vision camera is configured with an illumination light source. The monocular vision camera and the laser ranging module share the same cooperative target array. The cooperative target array includes at least three corner cube prisms, and the at least three corner cube prisms form a three-dimensional configuration. Each corner cube prism has a high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module. The method includes:

[0006] Acquiring a target image obtained by imaging the cooperative target array using a monocular vision camera, extracting the two-dimensional coordinates of the target in the image plane coordinate system from the target image, and determining the orientation of the target in the visual measurement coordinate system based on the two-dimensional coordinates of the target; the imaging is completed when the cooperative target array is illuminated by an illumination light source;

[0007] According to the orientation of the ranging target in the visual measurement coordinate system, the orientation of the ranging target in the laser measurement coordinate system is obtained by using a coordinate transformation relationship. According to the orientation of the ranging target in the laser measurement coordinate system, the light beam transmission direction of the laser ranging module is adjusted so that the light beam points to the ranging target, and the distance of the ranging target is measured by the laser ranging module; the ranging target is part of the target or all the targets in the cooperative target array;

[0008] Using the coordinate transformation relationship, the distance of the ranging target is converted into the three-dimensional position of the ranging target in the visual measurement coordinate system;

[0009] For ranging targets, the ranging equation is established based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system. For non-ranging targets, the non-ranging equation is established based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model. The equation group formed by all targets is solved to obtain the position and posture information of the cooperative target array relative to the measurement system.

[0010] On the other hand, a common-target laser vision high-precision relative pose measurement device is provided. The device is located in a measurement system. The measurement system also includes a monocular vision camera and a laser ranging module. The monocular vision camera is configured with an illumination light source. The monocular vision camera and the laser ranging module share the same cooperative target array. The cooperative target array includes at least three corner cubes, and the at least three corner cubes form a three-dimensional configuration. Each corner cube has a high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module. The measurement device includes:

[0011] an acquisition processing unit, configured to acquire a target image obtained by imaging the cooperative target array using a monocular vision camera, extract the two-dimensional coordinates of the target in the image plane coordinate system from the target image, and determine the orientation of the target in the visual measurement coordinate system based on the two-dimensional coordinates of the target; the imaging is performed when the cooperative target array is illuminated by an illumination light source;

[0012] a processing and adjustment unit for obtaining the orientation of the ranging target in the laser measurement coordinate system based on the orientation of the ranging target in the visual measurement coordinate system and utilizing a coordinate transformation relationship; adjusting the light beam transmission direction of the laser ranging module based on the orientation of the ranging target in the laser measurement coordinate system so that the light beam points to the ranging target, thereby obtaining the distance of the ranging target measured by the laser ranging module; the ranging target may be a portion or all of the targets in the cooperative target array;

[0013] A position conversion unit, configured to convert the distance of the ranging target into the three-dimensional position of the ranging target in the visual measurement coordinate system by using a coordinate transformation relationship;

[0014] The equation construction and solving unit is used to establish the ranging equation for the ranging target based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system; for the non-ranging target, the non-ranging equation is established based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model; the equation group formed by all targets is solved to obtain the position and posture information of the cooperative target array relative to the measurement system.

[0015] In another aspect, a measurement system is provided, comprising: a measurement device, a monocular vision camera, and a laser ranging module, wherein the monocular vision camera is configured with an illumination light source, the monocular vision camera and the laser ranging module share the same cooperative target array, the cooperative target array includes at least three corner cubes, and the at least three corner cubes form a three-dimensional configuration, each corner cube having a high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module;

[0016] The monocular vision camera is used to image the cooperative target array to obtain a target image; the imaging is completed when the illumination light source illuminates the cooperative target array;

[0017] The measuring device is used to extract the two-dimensional coordinates of the target in the image plane coordinate system from the target image, determine the orientation of the target in the visual measurement coordinate system according to the two-dimensional coordinates of the target; obtain the orientation of the ranging target in the laser measurement coordinate system according to the orientation of the ranging target in the visual measurement coordinate system by using the coordinate transformation relationship; adjust the light beam transmission direction of the laser ranging module according to the orientation of the ranging target in the laser measurement coordinate system so that the light beam points to the ranging target, and then the distance of the ranging target is measured by the laser ranging module; use the coordinate transformation relationship to convert the ranging target into the distance measurement target. The distance of the target is converted into the three-dimensional position of the ranging target in the visual measurement coordinate system; for the ranging target, a ranging equation is established based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system; for the non-ranging target, a non-ranging equation is established based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model; the equation group formed by all targets is solved to obtain the position and posture information of the cooperative target array relative to the measurement system; the ranging targets are some or all targets in the cooperative target array.

[0018] On the other hand, a computer device is provided, which includes a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of the above-mentioned common-target laser vision high-precision relative pose measurement method.

[0019] On the other hand, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned common-target laser vision high-precision relative pose measurement method are implemented.

[0020] On the other hand, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the steps of the above-mentioned common-target laser vision high-precision relative pose measurement method.

[0021] The technical solution provided by the present invention can at least bring the following beneficial effects:

[0022] The monocular vision camera and the laser ranging module share the cooperative target array set on the target, which can realize the integration of visual high-precision angle measurement capability and laser high-precision ranging capability, overcome their respective constraints, and achieve high-precision measurement of the six-degree-of-freedom relative position of the target; among them, the laser ranging module completes the orientation capture of the cooperative target array under the measurement guidance of the monocular vision camera, which is conducive to the integration of laser measurement and visual measurement results, thereby controlling measurement errors and improving measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a flow chart of a common target laser vision high-precision relative pose measurement method provided by one embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of a measurement system provided by one embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the relative posture measurement principle of a monocular vision camera provided by one embodiment of the present invention;

[0027] Figure 4 1 is a schematic diagram of the configuration of a cooperative target array provided by one embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the relative pose error obtained by measuring the cooperative target array using only a monocular vision camera;

[0029] Figure 6 This is a schematic diagram of relative posture obtained by the common target laser vision high-precision relative posture measurement method provided by one embodiment of the present invention;

[0030] Figure 7 This is a structural diagram of a common target laser vision high-precision relative posture measurement device provided by one embodiment of the present invention;

[0031] Figure 8 This is a hardware architecture diagram of a computer device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] As mentioned previously, the poor measurement accuracy of monocular vision can be addressed by integrating monocular vision with laser measurement. Laser measurement technology leverages its high-precision ranging capabilities to provide target position information along the line of sight. This, when combined with the monocular vision measurement results, improves the accuracy of target position measurement along the line of sight, enabling high-precision measurement of six-degree-of-freedom relative poses.

[0034] However, in laser vision fusion measurement technology, the cooperative targets used by the monocular vision camera and the laser ranging module are separated. The monocular vision camera uses an actively emitting LED as the cooperative target, while the laser ranging module uses a corner cube prism as the cooperative target. This structure makes it difficult for the laser ranging module to capture the target position. At the same time, the laser is separated from the vision measurement benchmark and the target benchmark, increasing the difficulty and complexity of data fusion between the two, which is not conducive to improving measurement accuracy and the application of measurement systems.

[0035] Therefore, the inventive concept of the present invention is that a monocular vision camera and a laser ranging module share the same cooperative target array, which is composed of at least three corner cube prisms. The target has high reflectivity in both the illumination band of the monocular vision camera and the operating band of the laser ranging module, and can be used for visual imaging and laser ranging at the same time. Through measurement data fusion, high-precision measurement of the target's six-degree-of-freedom relative posture is achieved.

[0036] Please refer to Figure 1An embodiment of the present invention provides a common-target laser vision high-precision relative pose measurement method, which is implemented by a measurement device in a measurement system. The measurement system also includes a monocular vision camera and a laser ranging module. The monocular vision camera is configured with an illumination light source. The monocular vision camera and the laser ranging module share the same cooperative target array. The cooperative target array includes at least three corner cube prisms, and the at least three corner cube prisms form a three-dimensional configuration. Each corner cube prism has a high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module. The method includes:

[0037] Step 100: Acquire a target image obtained by imaging the cooperative target array using a monocular vision camera, extract the two-dimensional coordinates of the target in the image plane coordinate system from the target image, and determine the orientation of the target in the visual measurement coordinate system based on the two-dimensional coordinates of the target; the imaging is completed when the cooperative target array is illuminated by an illumination light source;

[0038] Step 102: Based on the orientation of the ranging target in the visual measurement coordinate system, the orientation of the ranging target in the laser measurement coordinate system is obtained by using a coordinate transformation relationship. Based on the orientation of the ranging target in the laser measurement coordinate system, the light beam transmission direction of the laser ranging module is adjusted so that the light beam points to the ranging target, and the laser ranging module measures the distance of the ranging target. The ranging target may be a part of the targets or all of the targets in the cooperative target array.

[0039] Step 104, using a coordinate transformation relationship, converting the distance of the ranging target to the three-dimensional position of the ranging target in the visual measurement coordinate system;

[0040] Step 106: For the ranging target, a ranging equation is established based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system. For the non-ranging target, a non-ranging equation is established based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model. The equation system formed by all targets is solved to obtain the position information of the cooperative target array relative to the measurement system.

[0041] In an embodiment of the present invention, a monocular vision camera and a laser ranging module share a cooperative target array set on the target, which can realize the fusion of visual high-precision angle measurement capability and laser high-precision ranging capability, overcome the respective constraints of the two, and realize high-precision measurement of the six-degree-of-freedom relative position of the target; wherein, the laser ranging module completes the orientation capture of the cooperative target array under the measurement guidance of the monocular vision camera, which is conducive to the fusion of laser measurement and visual measurement results, thereby controlling measurement errors and improving measurement accuracy.

[0042] In an embodiment of the present invention, to achieve high-precision measurement of the position and posture information of the measurement system and the target system, a cooperative target array is provided on the target, with corner cube prisms serving as targets. The number of targets is at least three, and the positions of at least three targets need to form a three-dimensional configuration to facilitate characterization of the target's position and posture. The measurement system utilizes a laser vision fusion measurement method. The monocular vision camera and the laser ranging module share the same cooperative target array, and the monocular vision camera is equipped with an illumination light source. The target has high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module, and can be used for both imaging by the monocular vision camera and ranging by the laser ranging module.

[0043] Please refer to Figure 2 , is a schematic diagram of the measurement system. In this diagram, the cooperative target array consists of 6 targets, namely target 1, target 2, target 3, target 4, target 5 and target 6. Figure 2 Central coordinate system O T -X T Y T Z T Represents the target coordinate system of the target to be measured, O C -X C Y C Z C represents the intrinsic coordinate system of the monocular vision camera, which is called the visual measurement coordinate system in this embodiment, with the origin O C is the optical center of the camera optical system, L -X L Y L Z L The intrinsic coordinate system of the laser module is referred to as the laser measurement coordinate system in this embodiment. The rotation matrix and translation vector between the coordinate systems are defined as shown in Table 1 below.

[0044] Table 1:

[0045]

[0046] in and Can be obtained through external calibration means, and To be measured.

[0047] Described below Figure 1 How to perform the steps shown.

[0048] First, for step 100, a target image is obtained by imaging the cooperative target array using a monocular vision camera, and the two-dimensional coordinates of the target in the image plane coordinate system are extracted from the target image. The orientation of the target in the visual measurement coordinate system is determined based on the two-dimensional coordinates of the target; the imaging is completed when the cooperative target array is illuminated by an illumination light source.

[0049] In the embodiment of the present invention, the principle of measuring relative posture by a monocular vision camera is as follows: Figure 3 As shown. Point P represents any feature point in the target system. After being imaged by the monocular vision camera, an image point P′ is formed on the camera image plane. Two-dimensional coordinate system O I -X I Y I Represents the camera image plane coordinate system. Based on the image taken by the camera, the coordinates of the image point P′ in the image plane coordinate system can be obtained.

[0050] In practical applications, the cooperative target array is used as the feature point of the target, and the coordinates of the i-th target in the target coordinate system are (i=1,2,…,N, N is the number of targets), the coordinates in the visual measurement coordinate system are Here, the symbol H represents the transpose of a matrix or vector. The Euler angles from the target coordinate system to the visual measurement coordinate system are denoted as γ, α, and β. These three angles determine the rotation matrix The value of translation vector Then it is recorded as [x,y,z] H , γ, α, β, x, y, z are the six unknown quantities to be solved in relative posture measurement, and Y i C and are all functions of these six unknown quantities.

[0051] After the target is imaged onto the camera image plane, the two-dimensional coordinates of the i-th target are The focal length of the camera is F. Based on the pinhole imaging model, the following nonlinear equation system consisting of 2N equations can be established for N targets:

[0052]

[0053] For this system of equations, initial values ​​can be set and the solution can be achieved through an iterative algorithm. However, in this system of equations, the target position and pose are constrained by the target coordinates. Since the target image obtained by the monocular camera lacks depth information, this system of equations lacks constraints on the target position in the line of sight, resulting in poor z-axis target position measurement accuracy. This is also a major issue facing monocular relative pose measurement. To address this issue, it is necessary to introduce constraints on the target position in the line of sight into the measurement system. Therefore, a laser ranging module is used to measure the target distance in the line of sight.

[0054] The two-dimensional coordinates of the target in the image plane coordinate system are extracted from the target image. The two-dimensional coordinates of the i-th target are represented as The orientation of the target in the visual measurement coordinate system can be determined based on the two-dimensional coordinates of the target.

[0055] The ranging target is the target that the laser ranging module needs to aim at to measure the distance. The number of ranging targets is m, where m is 1≤m≤N. Targets other than the ranging targets in the cooperative target array are non-ranging targets.

[0056] By determining the direction of the ranging target in the actual measurement coordinate system, the laser ranging module is provided with azimuth guidance so that the laser ranging module can be aligned with the ranging target to achieve high-precision distance measurement.

[0057] Next, for step 102, based on the orientation of the ranging target in the visual measurement coordinate system, the coordinate transformation relationship is used to obtain the orientation of the ranging target in the laser measurement coordinate system. Based on the orientation of the ranging target in the laser measurement coordinate system, the light beam transmission direction of the laser ranging module is adjusted so that the light beam points to the ranging target, and the distance of the ranging target is measured by the laser ranging module.

[0058] according to Figure 2 It can be seen that the laser ranging module includes a laser optical system and a swing mirror. When the laser ranging module measures the cooperative target array, the laser fiber system emits a signal laser beam to the cooperative target array to measure the distance of the target; the signal laser beam is reflected by the swing mirror and then emitted toward the target, wherein the swing mirror can swing in two dimensions to control the transmission direction of the laser beam.

[0059] Furthermore, the laser ranging module requires target orientation guidance when measuring the cooperative target array. In step 100, the orientation of the ranging target in the visual measurement coordinate system is determined. Using the coordinate transformation relationship between the visual measurement coordinate system and the laser measurement coordinate system, the orientation of the ranging target in the laser measurement coordinate system can be determined. This serves as the target orientation guidance for the laser ranging module, causing the oscillating mirror to swing to adjust the beam transmission direction so that the beam points toward the ranging target.

[0060] It can be understood that when there are multiple ranging targets, it is necessary to point to the corresponding ranging targets in sequence and measure the distances of the multiple ranging targets in a one-to-one correspondence.

[0061] Finally, step 104 "using the coordinate transformation relationship to convert the distance of the ranging target to the three-dimensional position of the ranging target in the visual measurement coordinate system" and step 106 "for the ranging target, establish the ranging equation according to the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system; for the non-ranging target, establish the non-ranging equation according to the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model; solve the equation group formed by all targets to obtain the position information of the cooperative target array relative to the measurement system" are explained at the same time.

[0062] In the embodiment of the present invention, the distance of the ranging target is measured by the laser ranging module. Finally, the measurement results of the laser ranging module and the measurement results of the monocular vision camera need to be fused. Therefore, the coordinate transformation relationship between the visual measurement coordinate system and the laser measurement coordinate system can be used to convert the distance of the ranging target to the three-dimensional position of the ranging target in the visual measurement coordinate system.

[0063] Assuming that the number of ranging targets is m and the serial numbers of the ranging targets are N-m+1-N, then according to the three-dimensional positions of the ranging targets, the equations corresponding to these ranging targets in the above equations can be directly replaced to obtain a nonlinear equation system consisting of 2N+m equations; that is:

[0064] The non-ranging equation established for the non-ranging target (the serial number of the non-ranging target is 1-Nm) is:

[0065]

[0066] The ranging equation established for the ranging target is:

[0067]

[0068] f k (γ,α,β,x,y,z)=Y i C -Y i CR =0,k=3i-N+m-1,i=N-m+1,…,N

[0069]

[0070] Among them, γ, α, β are the Euler angles from the target coordinate system to the visual measurement coordinate system; [x, y, z] H is the translation vector from the visual measurement coordinate system to the target coordinate system; is the two-dimensional coordinate of the target in the image plane coordinate system; is the coordinate of the i-th target in the visual measurement coordinate system; is the conversion of the distance of the i-th target to the three-dimensional position in the visual measurement coordinate system; F is the focal length of the monocular vision camera; N is the total number of targets in the cooperative target array, N is an integer not less than 3; m is the number of ranging targets, m is an integer not less than 1 and not greater than N, the 1st to (Nm)th targets are non-ranging targets, and the (N-m+1)th to Nth targets are ranging targets;

[0071] in, is the coordinate of the i-th target in the target coordinate system, It is the rotation matrix from the target coordinate system to the visual measurement coordinate system, determined by the Euler angle.

[0072] The nonlinear system of 2N+m equations described above forms the theoretical model for high-precision relative pose measurement using common-target laser vision. Within this nonlinear system, target information measured by the laser ranging module effectively constrains the target's distance to its position, compensating for the shortcomings of traditional monocular vision camera pose measurement methods and improving the accuracy of the target's relative z-axis position in the iterative calculation results.

[0073] It can be understood that if the value of m is equal to N, then the set of equations consists entirely of equations established for the ranging target.

[0074] In one embodiment of the present invention, please refer to Figure 4 , is a schematic diagram of the configuration of a cooperative target array. The number of targets in the cooperative target array is six;

[0075] The four targets are located in the xy plane of the target coordinate system, and the four targets are located on a circle with a diameter of R1 and a center at the origin of the target coordinate system; the angles between the lines connecting the four targets and the origin and the positive direction of the x-axis are 45°, 135°, 225°, and 315°, respectively;

[0076] The positions of the other two targets extend from the intersection of the circle and the x-axis toward the negative direction of the z-axis, forming a height difference of R2 with the remaining four targets.

[0077] In one implementation, R1 is 0.4m and R2 is 0.16m.

[0078] For the measurement system, the pixel number of the monocular vision camera is 2048×2048, the pixel size is 5.5μm, and the camera focal length is 400mm; the distance repeatability measurement accuracy of the laser ranging module is 40m; the distance between the cooperative target array and the measurement system is set to 40m.

[0079] First, as a control, the cooperative target array is measured only by the monocular vision camera, and the relative pose is solved. The six-degree-of-freedom relative pose measurement results are shown in the attached figure. Figure 5 As shown in the figure, it can be seen that for position measurement, the z-axis position measurement accuracy is 12.08mm, which is much worse than the measurement accuracy of the x-axis and y-axis. This is also a concrete manifestation of the insufficiency of monocular vision relative pose measurement.

[0080] The cooperative target array is measured by the common target laser vision high-precision relative pose measurement method in the embodiment of the present invention, and the six-degree-of-freedom relative pose measurement results are obtained as shown in the attached figure. Figure 6As shown in the figure, the z-axis position measurement accuracy is 189.66μm, which is significantly improved compared with the monocular vision relative measurement simulation result (12.08mm). The system has the ability to perform high-precision measurement of the target's six-degree-of-freedom relative position.

[0081] Based on the same inventive concept as the above-mentioned common-target laser vision high-precision relative pose measurement method, an embodiment of the present invention provides a common-target laser vision high-precision relative pose measurement device, which is located in a measurement system. The measurement system also includes a monocular vision camera and a laser ranging module. The monocular vision camera is configured with an illumination light source. The monocular vision camera and the laser ranging module share the same cooperative target array. The cooperative target array includes at least three corner cube prisms, and the at least three corner cube prisms form a three-dimensional configuration. Each corner cube prism has high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module; please refer to Figure 7 , the measuring device comprises:

[0082] An acquisition processing unit 700 is configured to acquire a target image obtained by imaging the cooperative target array using a monocular vision camera, extract the two-dimensional coordinates of the target in the image plane coordinate system from the target image, and determine the orientation of the target in the visual measurement coordinate system based on the two-dimensional coordinates of the target; the imaging is performed when the cooperative target array is illuminated by an illumination light source;

[0083] The processing and adjustment unit 702 is configured to obtain the orientation of the ranging target in the laser measurement coordinate system based on the orientation of the ranging target in the visual measurement coordinate system using a coordinate transformation relationship, and adjust the light beam transmission direction of the laser ranging module based on the orientation of the ranging target in the laser measurement coordinate system so that the light beam points to the ranging target, thereby allowing the laser ranging module to measure the distance to the ranging target; the ranging target may be some or all targets in the cooperative target array;

[0084] The position conversion unit 704 is used to convert the distance of the ranging target into the three-dimensional position of the ranging target in the visual measurement coordinate system by using the coordinate transformation relationship;

[0085] The equation construction and solving unit 706 is used to establish a ranging equation for a ranging target based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system; establish a non-ranging equation for a non-ranging target based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model; and solve the equation system formed by all targets to obtain the position information of the cooperative target array relative to the measurement system.

[0086] In one embodiment of the present invention, the non-ranging equation established for the non-ranging target is:

[0087]

[0088] The equation established for the distance measurement target based on the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system is:

[0089]

[0090] f k (γ,α,β,x,y,z)=Y i C -Y i CR =0,k=3i-N+m-1,i=N-m+1,…,N

[0091]

[0092] Among them, γ, α, β are the Euler angles from the target coordinate system to the visual measurement coordinate system; [x, y, z] H is the translation vector from the visual measurement coordinate system to the target coordinate system; is the two-dimensional coordinate of the target in the image plane coordinate system; is the coordinate of the i-th target in the visual measurement coordinate system; is the conversion of the distance of the i-th target to the three-dimensional position in the visual measurement coordinate system; F is the focal length of the monocular vision camera; N is the total number of targets in the cooperative target array, N is an integer not less than 3; m is the number of ranging targets, m is an integer not less than 1 and not greater than N, the 1st to (Nm)th targets are non-ranging targets, and the (N-m+1)th to Nth targets are ranging targets;

[0093] in, is the coordinate of the i-th target in the target coordinate system, It is the rotation matrix from the target coordinate system to the visual measurement coordinate system, determined by the Euler angle.

[0094] It should be noted that the common-target laser vision high-precision relative posture measurement device provided in the above embodiment is only illustrated by the division of the above-mentioned functional modules. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the common-target laser vision high-precision relative posture measurement device provided in the above embodiment and the common-target laser vision high-precision relative posture measurement method embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0095] Based on the same inventive concept as the above-mentioned common-target laser vision high-precision relative pose measurement method, an embodiment of the present invention provides a measurement system, comprising: a measuring device, a monocular vision camera, and a laser ranging module, wherein the monocular vision camera is configured with an illumination light source, the monocular vision camera and the laser ranging module share the same cooperative target array, the cooperative target array includes at least three corner cubes, and the at least three corner cubes form a three-dimensional configuration, each corner cube having high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module;

[0096] The monocular vision camera is used to image the cooperative target array to obtain a target image; the imaging is completed when the illumination light source illuminates the cooperative target array;

[0097] The measuring device is used to extract the two-dimensional coordinates of the target in the image plane coordinate system from the target image, determine the orientation of the target in the visual measurement coordinate system according to the two-dimensional coordinates of the target; obtain the orientation of the ranging target in the laser measurement coordinate system according to the orientation of the ranging target in the visual measurement coordinate system by using the coordinate transformation relationship; adjust the light beam transmission direction of the laser ranging module according to the orientation of the ranging target in the laser measurement coordinate system so that the light beam points to the ranging target, and then the distance of the ranging target is measured by the laser ranging module; use the coordinate transformation relationship to convert the ranging target into the distance measurement target. The distance of the target is converted into the three-dimensional position of the ranging target in the visual measurement coordinate system; for the ranging target, a ranging equation is established based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system; for the non-ranging target, a non-ranging equation is established based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model; the equation group formed by all targets is solved to obtain the position and posture information of the cooperative target array relative to the measurement system; the ranging targets are some or all targets in the cooperative target array.

[0098] The embodiment of the present application also provides a computer device, please refer to Figure 8 The computer device includes a processor and a memory, in which at least one instruction, at least one program, code set or instruction set is stored. The at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the common-target laser vision high-precision relative pose measurement method provided by the above-mentioned method embodiments.

[0099] An embodiment of the present application also provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the common-target laser vision high-precision relative pose measurement method provided by the above-mentioned method embodiments.

[0100] An embodiment of the present application also provides a computer program product, which includes a computer program. The processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the common-target laser vision high-precision relative pose measurement method described in any of the above embodiments.

[0101] For the convenience of description, the above systems or devices are described as being divided into various modules or units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0102] Through the description of the above embodiments, it can be seen that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present application or certain parts of the embodiments.

[0103] Finally, it should be noted that, in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0104] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A common target laser vision high-precision relative pose measurement method, characterized in that: The method is implemented by a measuring device in a measuring system, wherein the measuring system further comprises a monocular vision camera and a laser ranging module, wherein the monocular vision camera is configured with an illumination light source, and the monocular vision camera and the laser ranging module share the same cooperative target array, wherein the cooperative target array comprises at least three corner cubes, and the at least three corner cubes form a three-dimensional configuration, and each corner cube has a high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module; the method comprises: Acquiring a target image obtained by imaging the cooperative target array using a monocular vision camera, extracting the two-dimensional coordinates of the target in the image plane coordinate system from the target image, and determining the orientation of the target in the visual measurement coordinate system based on the two-dimensional coordinates of the target; the imaging is completed when the cooperative target array is illuminated by an illumination light source; According to the orientation of the ranging target in the visual measurement coordinate system, the orientation of the ranging target in the laser measurement coordinate system is obtained by using a coordinate transformation relationship. According to the orientation of the ranging target in the laser measurement coordinate system, the light beam transmission direction of the laser ranging module is adjusted so that the light beam points to the ranging target, and the distance of the ranging target is measured by the laser ranging module; the ranging target is part of the target or all the targets in the cooperative target array; Using the coordinate transformation relationship, the distance of the ranging target is converted into the three-dimensional position of the ranging target in the visual measurement coordinate system; For ranging targets, the ranging equation is established based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system. For non-ranging targets, the non-ranging equation is established based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model. The equation group formed by all targets is solved to obtain the position and posture information of the cooperative target array relative to the measurement system.

2. The method according to claim 1, characterized in that The non-ranging equation established for the non-ranging target is: The ranging equation established for the ranging target is: f k (γ,α,β,x,y,z)=Y i C -Y i CR =0,k=3i-N+m-1,i=N-m+1,…,N Among them, γ, α, β are the Euler angles from the target coordinate system to the visual measurement coordinate system; [x, y, z] H is the translation vector from the visual measurement coordinate system to the target coordinate system; is the two-dimensional coordinate of the target in the image plane coordinate system; is the coordinate of the i-th target in the visual measurement coordinate system; is the conversion of the distance of the i-th target to the three-dimensional position in the visual measurement coordinate system; F is the focal length of the monocular vision camera; N is the total number of targets in the cooperative target array, N is an integer not less than 3; m is the number of ranging targets, m is an integer not less than 1 and not greater than N, the 1st to (Nm)th targets are non-ranging targets, and the (N-m+1)th to Nth targets are ranging targets; in, is the coordinate of the i-th target in the target coordinate system, It is the rotation matrix from the target coordinate system to the visual measurement coordinate system, determined by the Euler angle.

3. The method according to claim 2, characterized in that If the value of m is equal to N, then the set of equations consists entirely of equations established for the ranging target.

4. The method according to claim 1, wherein The number of targets in the cooperative target array is six; The four targets are located in the xy plane of the target coordinate system, and the four targets are located on a circle with a diameter of R1 and a center at the origin of the target coordinate system; the angles between the lines connecting the four targets and the origin and the positive direction of the x-axis are 45°, 135°, 225°, and 315°, respectively; The positions of the other two targets extend from the intersection of the circle and the x-axis toward the negative direction of the z-axis, forming a height difference of R2 with the remaining four targets.

5. A common target laser vision high-precision relative posture measurement device, characterized in that: Located in a measurement system, the measurement system also includes a monocular vision camera and a laser ranging module, the monocular vision camera is configured with an illumination light source, the monocular vision camera and the laser ranging module share the same cooperative target array, the cooperative target array includes at least three corner cube prisms, and the at least three corner cube prisms form a three-dimensional configuration, each corner cube prism has a high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module; the measurement device includes: an acquisition processing unit, configured to acquire a target image obtained by imaging the cooperative target array using a monocular vision camera, extract the two-dimensional coordinates of the target in the image plane coordinate system from the target image, and determine the orientation of the target in the visual measurement coordinate system based on the two-dimensional coordinates of the target; the imaging is performed when the cooperative target array is illuminated by an illumination light source; a processing and adjustment unit for obtaining the orientation of the ranging target in the laser measurement coordinate system based on the orientation of the ranging target in the visual measurement coordinate system and utilizing a coordinate transformation relationship; adjusting the light beam transmission direction of the laser ranging module based on the orientation of the ranging target in the laser measurement coordinate system so that the light beam points to the ranging target, thereby obtaining the distance of the ranging target measured by the laser ranging module; the ranging target may be a portion or all of the targets in the cooperative target array; A position conversion unit, configured to convert the distance of the ranging target into the three-dimensional position of the ranging target in the visual measurement coordinate system by using a coordinate transformation relationship; The equation construction and solving unit is used to establish the ranging equation for the ranging target based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system; for the non-ranging target, the non-ranging equation is established based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model; the equation group formed by all targets is solved to obtain the position and posture information of the cooperative target array relative to the measurement system.

6. The device according to claim 5, characterized in that The non-ranging equation established for the non-ranging target is: The distance measurement equation established for the distance measurement target according to the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system is: f k (γ,α,β,x,y,z)=Y i C -Y i CR =0,k=3i-N+m-1,i=N-m+1,…,N Among them, γ, α, β are the Euler angles from the target coordinate system to the visual measurement coordinate system; [x, y, z] H is the translation vector from the visual measurement coordinate system to the target coordinate system; is the two-dimensional coordinate of the target in the image plane coordinate system; is the coordinate of the i-th target in the visual measurement coordinate system; is the conversion of the distance of the i-th target to the three-dimensional position in the visual measurement coordinate system; F is the focal length of the monocular vision camera; N is the total number of targets in the cooperative target array, N is an integer not less than 3; m is the number of ranging targets, m is an integer not less than 1 and not greater than N, the 1st to (Nm)th targets are non-ranging targets, and the (N-m+1)th to Nth targets are ranging targets; in, is the coordinate of the i-th target in the target coordinate system, It is the rotation matrix from the target coordinate system to the visual measurement coordinate system, determined by the Euler angle.

7. A measurement system, characterized in that include: A measuring device, a monocular camera, and a laser ranging module, wherein the monocular camera is configured with an illumination light source, the monocular camera and the laser ranging module share the same cooperative target array, the cooperative target array includes at least three corner cubes, and the at least three corner cubes form a three-dimensional configuration, each corner cube having high reflectivity in the illumination band of the illumination light source and the operating band of the laser ranging module; The monocular vision camera is used to image the cooperative target array to obtain a target image; the imaging is completed when the illumination light source illuminates the cooperative target array; The measuring device is used to extract the two-dimensional coordinates of the target in the image plane coordinate system from the target image, and determine the orientation of the target in the visual measurement coordinate system according to the two-dimensional coordinates of the target; According to the orientation of the ranging target in the visual measurement coordinate system, the coordinate transformation relationship is used to obtain the orientation of the ranging target in the laser measurement coordinate system. According to the orientation of the ranging target in the laser measurement coordinate system, the light beam transmission direction of the laser ranging module is adjusted so that the light beam points to the ranging target, and the distance of the ranging target is measured by the laser ranging module; the coordinate transformation relationship is used to convert the distance of the ranging target into the three-dimensional position of the ranging target in the visual measurement coordinate system; for the ranging target, a ranging equation is established based on the three-dimensional position of the ranging target and the coordinate transformation relationship between the visual measurement coordinate system and the target coordinate system; for the non-ranging target, a non-ranging equation is established based on the two-dimensional coordinates of the non-ranging target in the image plane coordinate system and the pinhole imaging model; the equation group formed by all targets is solved to obtain the position information of the cooperative target array relative to the measurement system; the ranging targets are some or all targets in the cooperative target array.

8. A computer device, characterized in that: The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of any one of the methods described in claims 1-4.

9. A computer-readable storage medium, characterized in that The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 4.

10. A computer program product, characterized in that The method comprises a computer program, which implements the steps of the method according to any one of claims 1 to 4 when the computer program is executed by a processor.

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