Data acquisition device, spatial positioning method and device, equipment and storage medium

Abstract

The invention provides a data acquisition device, a spatial positioning method and device, equipment and a storage medium, and relates to the technical field of data processing. The method comprises the following steps: acquiring original attitude data of a data acquisition device, and defining a reference coordinate system of calibration equipment; acquiring at least two pieces of attitude data of the data acquisition device under the condition of moving the calibration equipment; based on the original attitude data and the at least two attitude data, updating the reference coordinate system to obtain a standard coordinate system; tracking position data of the data acquisition assembly when the data acquisition assembly moves in the working area through the first positioning assembly, and constructing a spatial positioning grid through the second positioning assembly to obtain spatial positioning data; and based on the standard coordinate system, the position data and the spatial positioning data, determining a movement track of the data acquisition assembly. According to the embodiment of the invention, the positioning and tracking equipment is installed on the data acquisition unit to construct the data acquisition device, and the data acquisition device is used for acquiring high-precision data, so that the precision of data acquisition is improved.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a data acquisition device and a spatial positioning method, device, equipment and storage medium. Background Art

[0002] With the continuous development of industrial, commercial, and home service robots, the demand for high-precision acquisition of spatial position and pose trajectory is increasing. Traditional camera positioning or inertial measurement unit (IMU) positioning often lacks accuracy and real-time performance.

[0003] In recent years, the HTC VIVE Base Station 2.0 has been combined with laser positioning tracking devices such as the HTC VIVE Tracker 3.0 to obtain spatial position information with a high sampling rate and accuracy. However, many technical challenges remain in how to conveniently and stably apply such trackers to handheld data collectors and achieve accurate calibration and data collection of their spatial posture.

[0004] Therefore, how to combine positioning tracking devices with handheld data collectors to achieve high-precision positioning of handheld terminals in small and medium-sized working spaces is a problem that needs to be solved at present. Summary of the Invention

[0005] The present invention provides a data acquisition device and a spatial positioning method, device, equipment and storage medium to solve the defect of low data acquisition accuracy in the prior art. The data acquisition device is constructed by installing a positioning tracking device on a data collector, so as to collect high-precision data using the data acquisition device.

[0006] In a first aspect, the present invention provides a data acquisition device comprising: a data acquisition component, a positioning component connected to the data acquisition component, and a controller disposed on the data acquisition component; The positioning component is used to obtain a movement trajectory of the data acquisition component when it moves in the working area, and send the movement trajectory to the data acquisition component; The data acquisition component is configured to collect device data of a target device within the working area according to the movement trajectory, and send the movement trajectory and the device data to the controller; The controller is used to receive the device data and the movement trajectory sent by the data acquisition component, and record the device data and the movement trajectory.

[0007] Preferably, according to the data acquisition device provided by the present invention, the positioning assembly includes: a first positioning assembly and a second positioning assembly, the first positioning assembly is arranged on the top of the data acquisition assembly, and the second positioning assembly is arranged in the working area of ​​the data acquisition assembly; The first positioning component is used to track the position data of the data acquisition component when it moves within the working area; The second positioning component is used to emit a laser scanning signal to construct a spatial positioning grid corresponding to the working area, so as to obtain spatial positioning data of the data acquisition component within the spatial positioning grid.

[0008] Preferably, the data acquisition device provided according to the present invention includes: The controller is further configured to perform calculations on the position data and the spatial positioning data to determine the movement trajectory of the data acquisition component when it moves within the working area.

[0009] In a second aspect, the present invention further provides a spatial positioning method for the data acquisition device as described in the first aspect, wherein the data acquisition device is placed on a preset calibration device, the data acquisition device comprising at least: a data acquisition component, a positioning component connected to the data acquisition component, the positioning component comprising at least: a first positioning component and a second positioning component, the first positioning component being disposed on top of the data acquisition component, and the second positioning component being disposed within a working area of ​​the data acquisition component; The method comprises: Acquiring original posture data of a data acquisition device and defining a reference coordinate system of the calibration device; acquiring at least two posture data of the data acquisition device while moving the calibration device; Based on the original posture data and the at least two posture data, updating the reference coordinate system to obtain a standard coordinate system of the calibration device; Tracking position data of the data acquisition component as it moves within the working area through the first positioning component, and constructing a spatial positioning grid corresponding to the working area through the second positioning component emitting a laser scanning signal to obtain spatial positioning data of the data acquisition component within the spatial positioning grid; A moving trajectory of the data acquisition component when moving within the working area is determined based on the standard coordinate system, the position data and the spatial positioning data.

[0010] Preferably, according to the spatial positioning method provided by the present invention, updating the reference coordinate system based on the original posture data and the at least two posture data to obtain the standard coordinate system of the calibration device includes: Calculating a posture deviation matrix between the original posture data and the at least two posture data; Based on the posture deviation matrix and the reference coordinate system, the standard coordinate system of the calibration device is obtained by least square fitting calculation processing.

[0011] Preferably, according to the spatial positioning method provided by the present invention, after the step of updating the reference coordinate system based on the original posture data and the at least two posture data to obtain the standard coordinate system of the calibration device, the method includes: Performing calculations based on the standard coordinate system and the position data to obtain position correction data, and performing calculations based on the standard coordinate system and the spatial positioning data to obtain spatial correction data; Calculating a position error between the position-corrected data and the actual measured position data, and calculating a spatial error between the spatial-corrected data and the actual spatial data; When the position error is less than or equal to a preset position error threshold, and the spatial error is less than or equal to a preset spatial error threshold, a result that the standard coordinate system verification is passed is obtained.

[0012] In a third aspect, the present invention further provides a spatial positioning device, which is applied to a data acquisition device, wherein the data acquisition device is disposed on a preset calibration device, the data acquisition device comprising at least: a data acquisition component, a positioning component connected to the data acquisition component, the positioning component comprising at least: a first positioning component and a second positioning component, the first positioning component being disposed on top of the data acquisition component, and the second positioning component being disposed within a working area of ​​the data acquisition component; The spatial positioning device comprises: A definition module, used to obtain raw posture data of the data acquisition device and define a reference coordinate system of the calibration device; an acquisition module, configured to acquire at least two posture data of the data acquisition device while moving the calibration device; An updating module, configured to update the reference coordinate system based on the original posture data and the at least two posture data to obtain a standard coordinate system of the calibration device; an acquisition module, configured to track position data of the data acquisition component as it moves within a working area through a first positioning component, and to construct a spatial positioning grid corresponding to the working area by emitting a laser scanning signal through a second positioning component, so as to acquire spatial positioning data of the data acquisition component within the spatial positioning grid; A determination module is used to determine a movement trajectory of the data acquisition component when it moves within the working area based on the standard coordinate system, the position data and the spatial positioning data.

[0013] In a fourth aspect, the present invention further provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the spatial positioning method as described above is implemented.

[0014] In a fifth aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-described spatial positioning methods.

[0015] In a sixth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described spatial positioning methods.

[0016] The present invention provides a data acquisition device and spatial positioning method, device, equipment and storage medium, which obtains the original posture data of the data acquisition device and defines the reference coordinate system of the calibration device; obtains at least two posture data of the data acquisition device when the calibration device is moved; updates the reference coordinate system based on the original posture data and the at least two posture data to obtain the standard coordinate system of the calibration device; tracks the position data of the data acquisition component when it moves in the working area through a first positioning component, and constructs a spatial positioning grid corresponding to the working area through a second positioning component to obtain the spatial positioning data of the data acquisition component in the spatial positioning grid; determines the movement trajectory of the data acquisition component when it moves in the working area based on the standard coordinate system, the position data and the spatial positioning data. It is used to solve the defect of low data acquisition accuracy in the prior art, and realizes that by installing the positioning tracking device on the data collector, a data acquisition device is constructed to collect high-precision data using the data acquisition device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to 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.

[0018] Figure 1 It is a structural schematic diagram of an axial view of the data acquisition device provided by the present invention.

[0019] Figure 2 It is a structural schematic diagram of a side view of the data acquisition device provided by the present invention.

[0020] Figure 3 It is a flow chart of the spatial positioning method provided by the present invention.

[0021] Figure 4 It is a structural schematic diagram of the space positioning device provided by the present invention.

[0022] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention.

[0023] Reference numerals: 110: second positioning component; 120: data acquisition component; 130: first positioning component; 140: clamping claw. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0025] In the related art, there are at least the following technical problems: With the continuous development of industrial, commercial, and home service robots, the demand for high-precision acquisition of spatial position and pose trajectory is increasing. Traditional camera positioning or inertial measurement unit (IMU) positioning often lacks accuracy and real-time performance. In recent years, the HTC VIVE Base Station 2.0, combined with laser positioning tracking devices such as the HTC VIVE Tracker 3.0, has acquired spatial position information with high sampling rates and accuracy. However, many technical challenges remain in how to conveniently and stably apply these trackers to handheld data collectors and achieve accurate calibration and data collection of their spatial pose.

[0026] Therefore, the current problem that needs to be solved is how to combine the HTC VIVE Tracker 3.0 with a handheld data collector and cooperate with the HTC VIVEBase Station 2.0 to achieve high-precision six-degree-of-freedom positioning of the handheld terminal in a small or medium-sized workspace, and combine this positioning data with the sampling or operation process actually performed by the collector.

[0027] The following combination Figure 1-Figure 5 The present invention describes a data acquisition device and spatial positioning method, device, equipment and storage medium, which are used to solve the defect of low data acquisition accuracy in the prior art. By installing a positioning tracking device on a data collector, a data acquisition device is constructed to collect high-precision data using the data acquisition device.

[0028] like Figure 1 It is a structural diagram of an axial view of the data acquisition device provided by the present invention, Figure 2 It is a structural schematic diagram of a side view of the data acquisition device provided by the present invention.

[0029] The present invention provides a data acquisition device, comprising: a data acquisition component 120, a positioning component connected to the data acquisition component 120, and a controller provided in the data acquisition component 120; The positioning component is used to obtain the movement trajectory of the data acquisition component 120 when it moves in the working area, and send the movement trajectory to the data acquisition component 120; The data acquisition component 120 is configured to collect device data of a target device within the working area according to the movement trajectory, and send the movement trajectory and the device data to the controller; The controller is configured to receive the device data and the movement trajectory sent by the data acquisition component 120 and record the device data and the movement trajectory.

[0030] Furthermore, the positioning assembly includes: a first positioning assembly 130 and a second positioning assembly 110; The first positioning component 130 is used to track the position data of the data acquisition component 120 when it moves in the working area; The second positioning component 110 is used to emit a laser scanning signal to construct a spatial positioning grid corresponding to the working area, so as to obtain spatial positioning data of the data acquisition component 120 within the spatial positioning grid.

[0031] Furthermore, the controller is also used to calculate and process the position data and the spatial positioning data to determine the movement trajectory of the data acquisition component 120 when it moves in the working area.

[0032] It should be noted that, in some embodiments, the first positioning component 130 may be an HTC VIVE Tracker 3.0, which is installed on top of a handheld data collector to collect position and posture information.

[0033] The second positioning component 110 may be an HTC VIVE Base Station 2.0, which is disposed in the working area and is used to emit laser scanning signals.

[0034] The data acquisition component 120 may be a handheld data collector, including a mechanical gripper 140 , a sensor module, a controller, and a housing structure.

[0035] Controller: Communicates with the HTC VIVE Tracker 3.0 and Base Station 2.0 via wired or wireless means to obtain real-time spatial pose data; Calibration module: When using the data acquisition device for the first time or replacing the data acquisition device to acquire scenes, the tracking coordinate system and the actual world coordinate system are calibrated to reduce the error of the data collected from the target device.

[0036] It's important to note that the first positioning component collects 6DOF data (position x, y, z and orientation quaternions qw, qx, qy, qz) in real time. This data is received via the SteamVR plugin for Unreal Engine or Unity. Wireless 2.4GHz / 5GHz bands are supported (avoiding interference from metal shielding). The data update rate is 120Hz (default), which can be configured to a higher frequency for improved accuracy.

[0037] The second positioning component is set up with two Base Stations placed diagonally across the work area, covering a circular area with a diameter of approximately 5 meters. The installation height is 2-3 meters, and the tilt angle is ≤15° to avoid multipath reflections.

[0038] The laser scanning parameters of the second positioning component include: Horizontal / vertical field of view: 120°×120°.

[0039] Maximum effective distance: Adjust the power according to the ambient light (typical value is 4~5 meters).

[0040] Synchronization mechanism: Synchronize the timestamps of the Tracker and Base Station through the SteamVR / OpenVR API to ensure consistent data timing.

[0041] Furthermore, the data acquisition device includes at least the following components: Gripper 140: A six-degree-of-freedom robotic arm with a force sensor (such as a load cell) installed at the end to detect the gripping force.

[0042] Sensor module: IMU (Inertial Measurement Unit): Redundant positioning to improve accuracy in dynamic scenarios.

[0043] Depth camera (such as Intel RealSense D435): used for visual SLAM positioning of target objects.

[0044] Controller: Main control chip: NVIDIA Jetson Nano or Raspberry Pi 4B (supports USB / Wi-Fi communication).

[0045] Communication interface: Wi-Fi 6 (low latency mode) or Gigabit Ethernet.

[0046] The application steps for the data acquisition device may include: system startup and initialization of HTC VIVE BaseStation 2.0 and HTC VIVE Tracker 3.0; coordinate system calibration and alignment; As the handheld data collector moves within the work area, Tracker 3.0 interacts with the laser signals generated by Base Station 2.0 to calculate the Tracker's real-time position and posture; Synchronize and record the position and posture data with the data collected by the sensors installed on the collector (such as gripper opening and closing information, image sensor data, etc.); Perform back-end processing, display or further analysis based on the recorded data.

[0047] The above-mentioned data acquisition device provided by the present invention has at least the following technical effects: achieving a positioning accuracy of 2mm±0.5mm and a posture accuracy of 1 degree±0.5 degree through a high-precision laser locator.

[0048] Improve the spatial positioning and attitude measurement accuracy of handheld data collectors in complex environments.

[0049] Improve the accurate measurement and recording of trajectory data, and provide a high-quality foundation for subsequent data analysis.

[0050] The structure is simple and can be adapted to a variety of expandable sensors or mechanical grippers, with a wide range of applications.

[0051] Figure 3 This is a flow chart of a spatial positioning method provided by the present invention, such as Figure 3 As shown, the method may include but is not limited to steps S310 to S350: S310, acquiring original posture data of the data acquisition device, and defining a reference coordinate system of the calibration device; S320, acquiring at least two posture data of the data acquisition device while moving the calibration device; S330, updating the reference coordinate system based on the original posture data and the at least two posture data to obtain a standard coordinate system of the calibration device; S340, tracking position data of the data acquisition component as it moves within the working area by the first positioning component, and constructing a spatial positioning grid corresponding to the working area by emitting a laser scanning signal by the second positioning component to obtain spatial positioning data of the data acquisition component within the spatial positioning grid; S350: Determine a movement trajectory of the data acquisition component when it moves within the working area based on the standard coordinate system, the position data, and the spatial positioning data.

[0052] In step S310 of some embodiments, original posture data of a data acquisition device is acquired, and a reference coordinate system of the calibration device is defined.

[0053] It is understood that the raw pose data (quaternion or Euler angle) can be obtained using the built-in IMU (Inertial Measurement Unit) or an external tracker (such as HTC VIVE Tracker 3.0).

[0054] Get 6DOF data from SteamVR / OpenVR, including real-time data of pose (position and orientation). Each pose consists of a 3D position (x, y, z) and an orientation (usually quaternion or Euler angle). This data comes from VR hardware (such as controllers, helmets, etc.) The reference coordinate system of the calibration device is defined as follows: the initial position of the calibration device is the origin, the direction of gravity is the Z axis, the forward direction of the device is the X axis, and the right side is the Y axis.

[0055] Eliminate magnetic interference through IMU calibration (such as hard iron / soft iron compensation).

[0056] The embodiment of the present invention further includes a dynamic calibration step: before moving the calibration device, the device is stationary and multiple samples (eg, 10 times) are averaged to reduce noise.

[0057] Multi-sensor fusion step: Combining IMU and visual data (such as SLAM) to improve initial pose accuracy.

[0058] In some embodiments, the method further includes: defining a reference coordinate system, the steps of which are as follows: Select a known and fixed reference coordinate system. Typically, the ideal original installation position of the device is selected as the origin of the reference coordinate system, and determine the direction of its coordinate axes.

[0059] For example, a reference coordinate system can be the position and orientation of a device relative to a reference object such as a camera, sensor, or workbench.

[0060] And including the steps to initialize the calibration equipment: Prepare a calibration object, usually a reference object with known size and position (such as a calibration plate or a fixed calibration instrument).

[0061] Ensure that the pose and position of the calibration object have been measured in a known coordinate system.

[0062] In step S320 of some embodiments, at least two posture data of the data acquisition device are acquired while the calibration device is moved.

[0063] It should be noted that the calibration device can be moved within the work area according to a preset movement strategy. The preset movement strategy can be moving the calibration device along the work area boundary or a preset path (such as an "8" shape) to cover different directions. The dwell time at each sampling point is ≥ 1 second to ensure data collection stability.

[0064] Records attitude data (quaternion), timestamp, and GPS / UWB positioning information for each position.

[0065] It should be noted that increasing the sampling density at feature points (such as corners and centers) improves the accuracy of coordinate system updates. Also, real-time monitoring of posture data jumps (such as exceeding a threshold of 5°) prompts the user to resample.

[0066] In step S330 of some embodiments, the reference coordinate system is updated based on the original posture data and the at least two posture data to obtain a standard coordinate system of the calibration device.

[0067] It can be understood that the least squares method is used to fit multiple posture data to calculate the rotation matrix R and translation vector t. The root mean square error (RMSE) of all sampling points is calculated. If it exceeds a threshold (such as 2mm), the abnormal points are excluded and the calculation is repeated.

[0068] Definition of standard coordinate system: With the first sampling point as the origin, define the global standard coordinate system based on the updated R and t.

[0069] Furthermore, the RANSAC algorithm can be used to eliminate incorrect matching points, avoid abnormal postures affecting the results, and improve robustness.

[0070] In step S340 of some embodiments, the position data of the data acquisition component as it moves within the working area is tracked by the first positioning component, and a laser scanning signal is emitted by the second positioning component to construct a spatial positioning grid corresponding to the working area to obtain the spatial positioning data of the data acquisition component within the spatial positioning grid.

[0071] It can be understood that the first positioning component (such as UWB / GPS): tracks the global position of the data acquisition component, with a sampling rate of ≥20Hz and an accuracy of ±10cm.

[0072] Second positioning component (laser scanning): Use lidar (such as Velodyne) or time-of-flight camera to build a spatial grid.

[0073] The grid resolution is adjusted according to the requirements (e.g. 1cm×1cm×1cm).

[0074] Spatial positioning data fusion: align the global position with the grid coordinates to generate a unified spatial index.

[0075] In step S350 of some embodiments, a movement trajectory of the data acquisition component when it moves within the working area is determined based on the standard coordinate system, the position data, and the spatial positioning data.

[0076] It is understood that the trajectory reconstruction algorithm may include the following steps: 1. Coordinate transformation: Mapping position data from the standard coordinate system to the spatial grid coordinate system.

[0077] 2. Trajectory interpolation: Perform spline interpolation (such as Bezier curve) on discrete position points to generate a continuous trajectory.

[0078] 3. Visualization: Plot the trajectory in a spatial grid and annotate key events (such as stops and turns).

[0079] 4. Error compensation: Correct the trajectory offset based on the residual error during calibration.

[0080] In some embodiments of the present invention, updating the reference coordinate system based on the original posture data and the at least two posture data to obtain the standard coordinate system of the calibration device includes: Calculating a posture deviation matrix between the original posture data and the at least two posture data; Based on the posture deviation matrix and the reference coordinate system, the standard coordinate system of the calibration device is obtained by least square fitting calculation processing.

[0081] It is understandable that it is necessary to calculate a posture deviation matrix between the original posture data and at least two other posture data. The posture deviation matrix reflects the difference or deviation between different posture data.

[0082] Next, the calculated attitude deviation matrix and the existing reference coordinate system are used to perform a fitting calculation using the least squares method. The least squares method is a mathematical optimization technique that finds the best function match by minimizing the sum of squared errors.

[0083] In this context, the least squares method is used to find an optimal coordinate system transformation so that the original pose data and at least two pose data are as consistent as possible in the new coordinate system.

[0084] After the above calculations, the final result is the standard coordinate system of the calibration device. This standard coordinate system is calculated by least squares fitting based on the comprehensive consideration of the original posture data, at least two posture data, and the reference coordinate system.

[0085] The embodiment of the present invention calculates the posture deviation matrix and uses the least square method to fit and adjust the reference coordinate system, thereby obtaining the standard coordinate system of the calibration equipment.

[0086] In some embodiments of the present invention, after the step of updating the reference coordinate system based on the original posture data and the at least two posture data to obtain the standard coordinate system of the calibration device, the method includes: Performing calculations based on the standard coordinate system and the position data to obtain position correction data, and performing calculations based on the standard coordinate system and the spatial positioning data to obtain spatial correction data; Calculating a position error between the position-corrected data and the actual measured position data, and calculating a spatial error between the spatial-corrected data and the actual spatial data; When the position error is less than or equal to a preset position error threshold, and the spatial error is less than or equal to a preset spatial error threshold, a result that the standard coordinate system verification is passed is obtained.

[0087] It is understood that based on the standard coordinate system and position data (such as the device position measured by sensors), coordinate transformation or mathematical modeling is used to calculate the theoretical position of the device in the standard coordinate system and generate position correction data. For example, if the original position data contains errors, the correction data can be corrected by using the transformation matrix of the standard coordinate system.

[0088] Spatial correction data: Based on the standard coordinate system and spatial positioning data (such as the device's attitude angle, rotation matrix, or quaternion), the theoretical spatial posture of the device in the standard coordinate system is calculated to generate spatial correction data.

[0089] For example, if the original spatial data has posture deviation, the correction data can compensate for the original posture through the rotation matrix of the standard coordinate system.

[0090] Steps for calculating position error: Compare the position-corrected data with the actual measured position data (such as the true position measured by a high-precision reference system) and calculate the deviation between the two.

[0091] Steps for calculating spatial error: Compare the spatial correction data with the actual spatial data (such as the true attitude angle or rotation matrix) to calculate the attitude deviation.

[0092] Furthermore, strategies for calculating errors may include the following: if it is a rotation matrix, the Euclidean distance or trace error between matrices may be calculated; If it is a quaternion, the angle error of the quaternion difference can be calculated; If it is Euler angle, the absolute value of the angle difference of each axis can be directly calculated.

[0093] Threshold judgment steps: If the position error is ≤ the preset position error threshold (such as ±1 mm), and the spatial error is ≤ the preset spatial error threshold (such as ±0.1°), then the standard coordinate system is judged to have passed the verification, indicating that its accuracy meets the requirements.

[0094] Failure handling steps: If any error exceeds the threshold, it is necessary to return to recalibration (such as adjusting the original posture data or optimizing the fitting algorithm) until the accuracy requirements are met.

[0095] This embodiment sets the threshold value according to the equipment accuracy requirements. For example, an industrial robot arm may require a position error of <±0.5mm and a spatial error of <±0.05°.

[0096] Through the above steps, the reliability of the standard coordinate system can be systematically evaluated to ensure that the calibration equipment outputs accurate position and attitude information in subsequent tasks.

[0097] In some embodiments, 6DOF data is acquired in real time through the SteamVR / OpenVR API, including raw data for position (x, y, z) and orientation (quaternion or Euler angles). Collection requirements: Ensure synchronized timestamps (e.g., using UTC) to facilitate subsequent data alignment. Sampling frequency ≥ 50Hz, covering the entire device workspace.

[0098] Principles for selecting the reference coordinate system: Origin: The initial installation position of the calibration device (such as a mechanical fixed point or an optical marking point).

[0099] Coordinate axis: Z axis: perpendicular to the installation plane (such as the direction of gravity or the default orientation of the device).

[0100] X / Y axis: Defined according to the direction of device movement (e.g. horizontal rightward is X, vertical upward is Y).

[0101] Calibration object selection: Calibration plate: The size is known (such as 50cm×50cm), and the surface has a high-contrast pattern (such as a checkerboard or QR code).

[0102] Sensors: Install IMU and visual markers (such as LED lights or reflective balls) to assist in positioning.

[0103] Calibration equipment initialization steps: Fix the calibration plate at the origin of the reference coordinate system and record its theoretical position (such as measuring the position through a laser rangefinder and determining the direction through mechanical alignment).

[0104] Use the VR system to collect the initial 6DOF data of the calibration plate and compare it with the theoretical value to verify the system consistency.

[0105] Movement strategy steps: Path planning: Covering the workspace boundaries, center, and characteristic angles (such as 45°, 90°).

[0106] Dynamic sampling: Continuously sample while moving, avoiding sampling when stationary (reducing the impact of human jitter).

[0107] Each sampling point records: VR data, actual position of the calibration object (obtained through external measurement tools), and timestamp.

[0108] Assuming that the VR system has systematic errors, such as rotation offset ΔR and translation offset Δt, an error function can be constructed and minimized to reduce the error.

[0109] Apply the optimized ΔR and Δt to all VR data to obtain the corrected standard coordinate system: Coordinate system verification: Check whether the corrected coordinate system meets the orthogonality and origin consistency.

[0110] Independence test: Use new sampling points that are not involved in the calibration and calculate the root mean square error (RMSE) Threshold standard: If the RMSE exceeds the preset threshold (such as position error > 1mm or angle error > 0.5°), recalibration is required.

[0111] Record Parameters: Save the deviation correction factor and standard coordinate system. Save the calibration parameters as calibration data for future use. These optimizations significantly improve the accuracy and reliability of the calibration process, making it suitable for high-precision VR applications such as industrial assembly and medical simulation.

[0112] The present invention provides a data acquisition device and a spatial positioning method, device, equipment, and storage medium. The spatial positioning method obtains original posture data of the data acquisition device and defines a reference coordinate system of the calibration device; obtains at least two posture data of the data acquisition device when the calibration device is moved; updates the reference coordinate system based on the original posture data and the at least two posture data to obtain a standard coordinate system of the calibration device; tracks the position data of the data acquisition component when it moves in a working area through a first positioning component, and constructs a spatial positioning grid corresponding to the working area through a second positioning component emitting a laser scanning signal to obtain spatial positioning data of the data acquisition component within the spatial positioning grid; and determines the movement trajectory of the data acquisition component when it moves in the working area based on the standard coordinate system, the position data, and the spatial positioning data. The method is used to solve the defect of low data acquisition accuracy in the prior art, and realizes that a data acquisition device is constructed by installing a positioning tracking device on a data collector, so as to collect high-precision data using the data acquisition device.

[0113] The space positioning device provided by the present invention is described below. The space positioning device described below and the space positioning method described above can be referenced to each other.

[0114] like Figure 4 : This is a structural diagram of a spatial positioning device provided by the present invention. A spatial positioning device is applied to a data acquisition device. The data acquisition device is set on a preset calibration device. The data acquisition device at least includes: a data acquisition component, a positioning component connected to the data acquisition component, and the positioning component at least includes: a first positioning component and a second positioning component; The spatial positioning device comprises: A definition module 410 is used to obtain raw posture data of the data acquisition device and define a reference coordinate system of the calibration device; A first acquisition module 420 is configured to acquire at least two posture data of the data acquisition device while moving the calibration device; An updating module 430 is configured to update the reference coordinate system based on the original posture data and the at least two posture data to obtain a standard coordinate system of the calibration device; A second acquisition module 440 is configured to track the position data of the data acquisition component as it moves within the working area through the first positioning component, and to construct a spatial positioning grid corresponding to the working area by emitting a laser scanning signal through the second positioning component to obtain spatial positioning data of the data acquisition component within the spatial positioning grid; The determination module 450 is configured to determine a movement trajectory of the data acquisition component when it moves within the working area based on the standard coordinate system, the position data, and the spatial positioning data.

[0115] Preferably, the spatial positioning device provided according to the present invention is further configured to calculate a posture deviation matrix between the original posture data and the at least two posture data; Based on the posture deviation matrix and the reference coordinate system, the standard coordinate system of the calibration device is obtained by least square fitting calculation processing.

[0116] Preferably, the spatial positioning device provided by the present invention is further configured to perform calculation processing based on the standard coordinate system and the position data to obtain position correction data, and perform calculation processing based on the standard coordinate system and the spatial positioning data to obtain spatial correction data; Calculating a position error between the position-corrected data and the actual measured position data, and calculating a spatial error between the spatial-corrected data and the actual spatial data; When the position error is less than or equal to a preset position error threshold, and the spatial error is less than or equal to a preset spatial error threshold, a result that the standard coordinate system verification is passed is obtained.

[0117] The present invention provides a data acquisition device and a spatial positioning method, device, equipment, and storage medium. The spatial positioning method obtains original posture data of the data acquisition device and defines a reference coordinate system of the calibration device; obtains at least two posture data of the data acquisition device when the calibration device is moved; updates the reference coordinate system based on the original posture data and the at least two posture data to obtain a standard coordinate system of the calibration device; tracks the position data of the data acquisition component when it moves in a working area through a first positioning component, and constructs a spatial positioning grid corresponding to the working area through a second positioning component emitting a laser scanning signal to obtain spatial positioning data of the data acquisition component within the spatial positioning grid; and determines the movement trajectory of the data acquisition component when it moves in the working area based on the standard coordinate system, the position data, and the spatial positioning data. The method is used to solve the defect of low data acquisition accuracy in the prior art, and realizes that a data acquisition device is constructed by installing a positioning tracking device on a data collector, so as to collect high-precision data using the data acquisition device.

[0118] Figure 5 An example of a physical structure diagram of an electronic device is shown below. Figure 5 As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530, and a communication bus 540. The processor 510, the communication interface 520, and the memory 530 communicate with each other via the communication bus 540. The processor 510 may invoke logic instructions in the memory 530 to execute a spatial positioning method, which includes: obtaining raw posture data of a data acquisition device and defining a reference coordinate system for a calibration device; obtaining at least two posture data of the data acquisition device while the calibration device is moving; updating the reference coordinate system based on the raw posture data and the at least two posture data to obtain a standard coordinate system for the calibration device; tracking position data of the data acquisition device as it moves within a working area using a first positioning component, and constructing a spatial positioning grid corresponding to the working area using a second positioning component to emit laser scanning signals to obtain spatial positioning data of the data acquisition component within the spatial positioning grid; and determining a movement trajectory of the data acquisition component as it moves within the working area based on the standard coordinate system, the position data, and the spatial positioning data.

[0119] Furthermore, the logic instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0120] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the spatial positioning method provided by the above methods, which includes: obtaining the original posture data of the data acquisition device and defining the reference coordinate system of the calibration device; when the calibration device is moved, obtaining at least two posture data of the data acquisition device; updating the reference coordinate system based on the original posture data and the at least two posture data to obtain the standard coordinate system of the calibration device; tracking the position data of the data acquisition component when it moves in the working area through a first positioning component, and constructing a spatial positioning grid corresponding to the working area through a second positioning component to emit a laser scanning signal to obtain the spatial positioning data of the data acquisition component in the spatial positioning grid; determining the moving trajectory of the data acquisition component when it moves in the working area based on the standard coordinate system, the position data and the spatial positioning data.

[0121] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the spatial positioning method provided by the above-mentioned methods, the method comprising: obtaining original posture data of a data acquisition device, and defining a reference coordinate system of the calibration device; obtaining at least two posture data of the data acquisition device when the calibration device is moved; updating the reference coordinate system based on the original posture data and the at least two posture data to obtain a standard coordinate system of the calibration device; tracking the position data of the data acquisition component when it moves within the working area through a first positioning component, and constructing a spatial positioning grid corresponding to the working area through a second positioning component emitting a laser scanning signal to obtain the spatial positioning data of the data acquisition component within the spatial positioning grid; determining the moving trajectory of the data acquisition component when it moves within the working area based on the standard coordinate system, the position data and the spatial positioning data.

[0122] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0123] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A data acquisition device, characterized in that: include: A data acquisition component, a positioning component connected to the data acquisition component, and a controller provided in the data acquisition component; The positioning component is used to obtain a movement trajectory of the data acquisition component when it moves in the working area, and send the movement trajectory to the data acquisition component; The data acquisition component is configured to collect device data of a target device within the working area according to the movement trajectory, and send the movement trajectory and the device data to the controller; The controller is used to receive the device data and the movement trajectory sent by the data acquisition component, and record the device data and the movement trajectory.

2. The data acquisition device according to claim 1, characterized in that: The positioning assembly includes: a first positioning assembly and a second positioning assembly, the first positioning assembly is arranged on the top of the data acquisition assembly, and the second positioning assembly is arranged in the working area of ​​the data acquisition assembly; The first positioning component is used to track the position data of the data acquisition component when it moves within the working area; The second positioning component is used to emit a laser scanning signal to construct a spatial positioning grid corresponding to the working area, so as to obtain spatial positioning data of the data acquisition component within the spatial positioning grid.

3. The data acquisition device according to claim 2, characterized in that: include: The controller is further configured to perform calculations on the position data and the spatial positioning data to determine the movement trajectory of the data acquisition component when it moves within the working area.

4. A spatial positioning method applied to the data acquisition device according to any one of claims 1 to 3, characterized in that: The data acquisition device is installed on a preset calibration device, wherein the data acquisition device comprises at least: a data acquisition component, and a positioning component connected to the data acquisition component, wherein the positioning component comprises at least: a first positioning component and a second positioning component, wherein the first positioning component is installed on the top of the data acquisition component, and the second positioning component is installed in the working area of ​​the data acquisition component; The method comprises: Acquiring original posture data of a data acquisition device and defining a reference coordinate system of the calibration device; acquiring at least two posture data of the data acquisition device while moving the calibration device; Based on the original posture data and the at least two posture data, updating the reference coordinate system to obtain a standard coordinate system of the calibration device; Tracking position data of the data acquisition component as it moves within the working area through the first positioning component, and constructing a spatial positioning grid corresponding to the working area through the second positioning component emitting a laser scanning signal to obtain spatial positioning data of the data acquisition component within the spatial positioning grid; A moving trajectory of the data acquisition component when moving within the working area is determined based on the standard coordinate system, the position data and the spatial positioning data.

5. The spatial positioning method according to claim 4, characterized in that: The updating of the reference coordinate system based on the original posture data and the at least two posture data to obtain the standard coordinate system of the calibration device includes: Calculating a posture deviation matrix between the original posture data and the at least two posture data; Based on the posture deviation matrix and the reference coordinate system, the standard coordinate system of the calibration device is obtained by least square fitting calculation processing.

6. The spatial positioning method according to claim 4, characterized in that: After the step of updating the reference coordinate system based on the original posture data and the at least two posture data to obtain the standard coordinate system of the calibration device, the method includes: Performing calculations based on the standard coordinate system and the position data to obtain position correction data, and performing calculations based on the standard coordinate system and the spatial positioning data to obtain spatial correction data; Calculating a position error between the position-corrected data and the actual measured position data, and calculating a spatial error between the spatial-corrected data and the actual spatial data; When the position error is less than or equal to a preset position error threshold, and the spatial error is less than or equal to a preset spatial error threshold, a result that the standard coordinate system verification is passed is obtained.

7. A spatial positioning device, characterized in that: Applied to a data acquisition device, the data acquisition device is set on a preset calibration device, the data acquisition device at least includes: a data acquisition component, a positioning component connected to the data acquisition component, the positioning component at least includes: a first positioning component and a second positioning component, the first positioning component is set on the top of the data acquisition component, and the second positioning component is set in the working area of ​​the data acquisition component; The spatial positioning device comprises: A definition module, used to obtain raw posture data of the data acquisition device and define a reference coordinate system of the calibration device; A first acquisition module is used to acquire at least two posture data of the data acquisition device when the calibration device is moved; An updating module, configured to update the reference coordinate system based on the original posture data and the at least two posture data to obtain a standard coordinate system of the calibration device; a second acquisition module, configured to track position data of the data acquisition component as it moves within the working area through the first positioning component, and to construct a spatial positioning grid corresponding to the working area by emitting a laser scanning signal through the second positioning component, so as to acquire spatial positioning data of the data acquisition component within the spatial positioning grid; A determination module is used to determine a movement trajectory of the data acquisition component when it moves within the working area based on the standard coordinate system, the position data and the spatial positioning data.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the spatial positioning method according to any one of claims 4 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the spatial positioning method according to any one of claims 4 to 6 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the spatial positioning method according to any one of claims 4 to 6 is implemented.

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