CN216116064U - Pose calibration system of heading machine - Google Patents
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- CN216116064U CN216116064U CN202023112418.1U CN202023112418U CN216116064U CN 216116064 U CN216116064 U CN 216116064U CN 202023112418 U CN202023112418 U CN 202023112418U CN 216116064 U CN216116064 U CN 216116064U
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Abstract
The utility model relates to the technical field of position and attitude measurement of a heading machine, and provides a position and attitude calibration system of the heading machine, which at least comprises the heading machine, a strapdown inertial navigation device, a first image acquisition device, a second image acquisition device, a laser target and a laser direction indicator, wherein the laser target and the laser direction indicator are both arranged in a roadway, the laser target is suspended at the front side of the laser direction indicator, and the laser direction indicator is used for forming light spots on the surface of the laser target; the first image acquisition device and the second image acquisition device are arranged on the heading machine and used for acquiring light spot images on the laser target; the strapdown inertial navigation system is arranged on the heading machine and used for determining an installation matrix of the image acquisition device coordinate system relative to the strapdown inertial navigation system, wherein the installation matrix is used for representing an installation angle of the image acquisition device coordinate system relative to the strapdown inertial navigation system so as to calibrate the pose information of the strapdown inertial navigation system in a roadway. The utility model solves the technical problems of complex pose calibration operation and high cost of the development machine in the related technology.
Description
Technical Field
The utility model relates to the technical field of position and posture measurement of a heading machine, in particular to a position and posture calibration system of the heading machine.
Background
In the related art, a common method for calibrating a camera coordinate system and a strapdown inertial navigation coordinate system is performed by an optical transfer method, specifically, a standard hexahedron is mounted on a camera shell, and the hexahedron is adjusted by professional equipment, so that each surface of the hexahedron is perpendicular to each axis of the camera coordinate system, and at the moment, the normal of each surface of the hexahedron on the camera shell can represent each axial direction of the camera coordinate system; on the other hand, a standard hexahedron is also installed on the strapdown inertial navigation shell, and the hexahedron is adjusted through professional equipment, so that each surface of the hexahedron is perpendicular to each axis of the inertial navigation coordinate system respectively, and at the moment, the normal of each surface of the hexahedron on the inertial navigation shell can represent each axial direction of the inertial navigation coordinate system. After the work is finished, the inertial navigation system is installed in a user system, the angle relation between the two hexahedrons can be measured through the theodolite, and the calibration of the installation angle is finished.
The above solution is very intuitive, but has the following problems: the hexahedron on the camera housing must be installed and calibrated in advance in a professional optical laboratory, the operation is complex, and the test cost is high. The hexahedron on the inertial navigation shell needs to be installed and calibrated in advance by an inertial navigation manufacturer in a professional inertial technology laboratory, the operation is complex, the professional requirement is high, and the test cost is high; in addition, the hexahedron is also high in cost and is generally used in the field of military high precision requiring extremely high precision.
In view of the above technical problems in the related art, no effective solution has been proposed at present.
SUMMERY OF THE UTILITY MODEL
In view of the above problems, the utility model provides a pose calibration system of a heading machine, which is used for at least solving the technical problems of complex pose calibration operation and high cost of the heading machine in the related technology. The technical scheme is as follows:
the utility model provides a position and pose calibration system of a heading machine, which at least comprises the heading machine, a strapdown inertial navigation system, a first image acquisition device, a second image acquisition device, a laser target and a laser direction instrument, wherein the laser target and the laser direction instrument are both arranged in a roadway, the laser target is suspended at the front side of the laser direction instrument, and the laser direction instrument is used for forming light spots on the surface of the laser target; the first image acquisition device and the second image acquisition device are arranged on the heading machine and used for acquiring light spot images on the laser target; the strapdown inertial navigation system is arranged on the heading machine and used for determining an installation matrix of the image acquisition device coordinate system relative to the strapdown inertial navigation system, wherein the installation matrix is used for representing an installation angle of the image acquisition device coordinate system relative to the strapdown inertial navigation system so as to calibrate the pose information of the strapdown inertial navigation system in the roadway.
In a possible implementation manner, the system further comprises a laser ranging device, wherein the laser ranging device is arranged in the roadway, arranged between the first image acquisition device and the second image acquisition device and the laser target, and used for measuring displacement vectors of the first image acquisition device, the second image acquisition device and the laser target surface, wherein light spots on the laser target surface are opposite to the laser ranging device.
In another possible implementation, the laser ranging device is a total station.
In another possible implementation manner, the light emitted by the laser direction indicator is parallel to the horizontal plane direction set by the roadway.
In another possible implementation manner, the first image acquisition device is a first camera, and the second image acquisition device is a second camera.
In another possible implementation manner, a direction of a line connecting the first image acquisition device with respect to the light spot is not parallel to a direction of a line connecting the second image acquisition device with respect to the light spot in space.
In another possible implementation manner, the laser target is installed on the top surface or the side surface of the roadway behind the heading machine.
In another possible implementation, the laser target is made of a translucent material.
By means of the technical scheme, the position and pose calibration system of the heading machine provided by the embodiment of the utility model has the advantages that the two image acquisition devices are arranged on the heading machine, the laser target and the laser direction indicator are arranged in the roadway, the laser direction indicator forms light spots on the laser target surface, the strapdown inertial navigation is arranged on the heading machine, and the heading machine is positioned in the roadway; firstly, two displacement vectors of two image acquisition devices relative to light spots on a laser target surface are obtained, and the two displacement vectors are not parallel in space; and then, determining an installation matrix of the image acquisition device coordinate system relative to the strapdown inertial navigation according to the two displacement vectors and the projection relation of the image acquisition device coordinate system relative to the strapdown inertial navigation shell coordinate system, and obtaining an installation angle of the image acquisition device coordinate system relative to the strapdown inertial navigation so as to realize the calibration of the pose information of the strapdown inertial navigation in the roadway.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below.
Fig. 1 is a schematic diagram of a position and attitude measurement system of a heading machine based on binocular vision and strapdown inertial navigation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of coordinate system calibration related to pose calibration of a heading machine, provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a principle of a method for calibrating a mounting angle according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the utility model are shown in the drawings, it should be understood that the utility model can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that such uses are interchangeable under appropriate circumstances such that the embodiments of the utility model described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the term "include" and its variants are to be read as open-ended terms meaning "including, but not limited to".
In order to solve the technical problems in the related art, the embodiment provides a pose calibration system of a heading machine. The following describes the technical solution of the present invention and how to solve the above technical problems with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
In an application scene of the scheme, when a heading machine is used for excavating a roadway, the roadway required to be excavated is along the direction given by a laser direction indicator, the distance between the upper boundary and the lower boundary and the light of the laser direction indicator meet the preset requirement, two cameras are mounted on a vehicle, a laser target is made of a semitransparent material and is hung in front of the laser direction indicator so as to ensure that the laser direction indicator can irradiate the laser target surface to form light spots, then the two cameras are used for simultaneously collecting light spot images, and the displacement of the vehicle relative to the light spots can be determined based on a binocular vision technology. The displacement of the vehicle determined by binocular vision relative to the light spot is expressed in a camera coordinate system, the displacement is converted into a roadway coordinate system to be added with the light spot coordinate to obtain the coordinates of the vehicle in the roadway coordinate system, and if the installation angle between the camera coordinate system and the strapdown inertial navigation system providing navigation attitude information is known, the displacement can be converted into the roadway coordinate system through the navigation attitude information, so that the position information of the vehicle body in the roadway coordinate system is determined. How to accurately calibrate the installation angle of the camera coordinate system relative to the strapdown inertial navigation is the key of the success or failure method of the scheme.
The utility model provides a position and pose calibration system of a heading machine, which at least comprises the heading machine, a strapdown inertial navigation system, a first image acquisition device, a second image acquisition device, a laser target and a laser direction indicator, wherein,
the laser target and the laser direction indicator are both arranged in the roadway, the laser target is hung on the front side of the laser direction indicator, and the laser direction indicator is used for forming light spots on the surface of the laser target;
the light emitted by the laser direction indicator is parallel to the horizontal plane direction set by the roadway.
The first image acquisition device and the second image acquisition device are arranged on the heading machine and used for acquiring light spot images on the laser target;
in the embodiment, a first displacement vector of the first image acquisition device relative to the light spot and a second displacement vector of the second image acquisition device relative to the light spot are acquired through the light spot image; wherein the first displacement vector and the second displacement vector are not parallel in space;
optionally, the image acquisition device in this embodiment is a camera.
In this embodiment, calibrating the installation angle of the camera relative to the strapdown inertial navigation by using binocular vision is a key for introducing the position information of the laser direction finder. Wherein, the principle of binocular detection: by calculating the parallax of the two images, the distance measurement is directly performed on the front scene (the range where the images are shot) without judging what type of obstacle appears in front. Therefore, for any type of obstacles, necessary early warning or braking can be carried out according to the change of the distance information; the principle of the binocular camera is similar to that of human eyes, and the human eyes can perceive the distance of an object because the images presented by the two eyes to the same object have difference, which is also called as parallax. The farther the object distance is, the smaller the parallax error is; conversely, the greater the parallax. The binocular vision principle is that two cameras (namely the image acquisition device) are used for simultaneously obtaining two digital images of a measured object from different angles; and recovering the three-dimensional geometric information of the object based on the parallax principle, and reconstructing the three-dimensional profile and position of the object.
In the embodiment, the calibration of the coordinate system of the image acquisition device relative to the installation matrix of the strapdown inertial navigation is completed by utilizing the non-parallel characteristic in the space of the first displacement vector and the second displacement vector. The laser direction finder position information introduction is realized through the embodiment, manual point alignment is replaced, and not only is the manpower reduced, but also the accuracy is improved.
The strapdown inertial navigation device is arranged on the heading machine and used for determining an installation matrix of the image acquisition device coordinate system relative to the strapdown inertial navigation device, wherein the installation matrix is used for representing an installation angle of the image acquisition device coordinate system relative to the strapdown inertial navigation device so as to calibrate pose information of the strapdown inertial navigation device in a roadway.
Optionally, the mounting matrix is determined according to a first projection relationship, a first displacement vector and a second displacement vector of the image acquisition device coordinate system relative to the strapdown inertial navigation housing coordinate system.
In an optional embodiment of the present disclosure, the system further includes a laser ranging device, wherein the laser ranging device is disposed in the roadway, and is disposed between the first image collecting device, the second image collecting device, and the laser target, and is configured to measure displacement vectors of light spots on the first image collecting device, the second image collecting device, and the laser target surface relative to the laser ranging device.
In an optional embodiment of the present disclosure, the laser distance measuring device is a total station. The laser ranging device in this embodiment is a total station.
In order to calibrate the installation matrix, a total station pair is adopted
And
indirect measurement is carried out, the total station is arranged between the cameras 3 and 4 and the laser target surface, and the camera phase can be realized by adopting the total stationThe method has the advantages of simple operation and convenient operation on the use site for calibrating the strapdown inertial navigation installation angle.
In an optional embodiment of the present disclosure, the first image capturing device is a first camera, and the second image capturing device is a second camera.
In an optional embodiment of the present disclosure, a connection line direction of the first image capturing device with respect to the light spot is not parallel to a connection line direction of the second image capturing device with respect to the light spot in space.
In an optional embodiment of the scheme, the laser target is arranged on the top surface or the side surface of a roadway behind the heading machine.
In an alternative embodiment of the present disclosure, the laser target is made of a translucent material.
According to the position and posture calibration system of the heading machine, provided by the embodiment of the utility model, two image acquisition devices are arranged on the heading machine, a laser target and a laser direction indicator are arranged in a roadway, a light spot is formed on the laser target surface through the laser direction indicator, a strapdown inertial navigation is arranged on the heading machine, and the heading machine is positioned in the roadway; firstly, two displacement vectors of two image acquisition devices relative to light spots on a laser target surface are obtained, and the two displacement vectors are not parallel in space; and then, determining an installation matrix of the image acquisition device coordinate system relative to the strapdown inertial navigation according to the two displacement vectors and the projection relation of the image acquisition device coordinate system relative to the strapdown inertial navigation shell coordinate system, so as to obtain an installation angle of the image acquisition device coordinate system relative to the strapdown inertial navigation, so that the pose information of the strapdown inertial navigation in the roadway is calibrated, the operation is simple, the cost is low, the technical problems of complex pose calibration operation and high cost of the heading machine in the related technology are solved, and the accuracy of the pose information of the strapdown inertial navigation in the roadway is further improved.
In an embodiment of the present disclosure, a system is shown in fig. 1, and fig. 1 is a schematic diagram of a position and posture measuring system of a heading machine based on binocular vision and strapdown inertial navigation, where the system includes a strapdown inertial navigation system 2 installed on a body 1 of the heading machine, a camera 3 (i.e., the first image acquisition device) and a camera 4 (i.e., the second image acquisition device) installed on the body 1 of the heading machine, a laser target 5 installed on a roadway, a laser direction finder 6 installed on the roadway, and a light spot 7 formed on the laser target surface.
Fig. 2 is a schematic diagram of coordinate system calibration related to pose calibration of a heading machine according to an embodiment of the present invention, and the coordinate system calibration is performed on each device in the system according to the system provided in fig. 1.
Wherein the origin of the tunnel coordinate system t is positioned on the laser direction indicator, ytIn the horizontal plane along the laser emission direction, ztAxis vertically upwards, xt、ytAnd ztAnd forming a right-hand rectangular coordinate system. The coordinate system c of the camera 4 (i.e. the image acquisition device coordinate system mentioned above), referred to for short as the camera coordinate system, has its origin at the camera optical center, zcAlong the direction of the optical axis of the camera, xcTo the right in the focal plane and with zcPerpendicular, xc、ycAnd zcAnd forming a right-hand rectangular coordinate system. A strapdown inertial navigation shell coordinate system b is fixedly connected with the strapdown inertial navigation shell, xbThe axis being directed to the right side of the vehicle body, ybThe axis being directed forwardly of the body, zbThe axis pointing above the vehicle body, xb、ybAnd zbAnd forming a right-hand rectangular coordinate system. The geographical coordinate system n is not shown in fig. 3, the origin of which coincides with the origin of the system b, xnPointing to the east, ynPointing to true north, znPointing to sky, xn、ynAnd znAnd forming a right-hand rectangular coordinate system.
The heading machine needs strapdown inertial navigation to provide displacement information relative to a roadway coordinate system
(i.e., the above pose information), as in formula (1):
wherein:
for navigatingThe rotation matrix from the system roadway coordinate system n to the roadway coordinate system t is a roadway design value and belongs to a known quantity;
the method is given by strapdown inertial navigation and belongs to known quantity;
the projection of the displacement vector of the strapdown inertial navigation relative to the camera 4 on the inertial navigation shell system b belongs to known quantity;
is a displacement vector r of the camera 4 relative to a light spot on the laser target surface4Projection in a camera coordinate system, and measurement by a binocular vision system consisting of a camera 3 and a camera 4;
the method is an installation matrix of a camera coordinate system relative to strapdown inertial navigation and needs to be determined by a calibration method before the system is put into use.
Displacement vector r of camera 3 relative to light spot on laser target surface3(first displacement vector) and displacement vector r of camera 4 relative to the spot on the laser target surface4(second displacement vector) is not parallel, and the utility model carries out the installation matrix of the camera coordinate system c relative to the strapdown inertial navigation shell system b according to the characteristic
And (4) calibrating.
The camera 3 and the camera 4 measure a vector r according to a binocular vision principle3And r4Projection in the coordinate system c (image acquisition device coordinate system) of the camera 4
And
according to r3And r4The projection relation between the systems c and b is shown in formula (2).
Is calculated to obtain
And
then, the above equation (3) can be calculated.
For calibrating the mounting matrix
Using a total station pair
And
indirect measurement is performed, the measurement principle is shown in fig. 3, and fig. 3 is a schematic diagram of the principle of the mounting angle calibration method provided by the embodiment of the utility model.
In FIG. 3, o is the position of the total station, and the total station outputs the result
And
i.e. r in FIG. 3A、rBAnd rCAnd (4) projection on a roadway coordinate system. Obtaining formula (4) and formula (5) according to a vector synthesis rule:
further utilize
And
two known quantities will
And
transformation to b is equation (6) and equation (7):
will be provided with
And
substituting the formula (2) to obtain
And (4) calibrating results.
In view of
And
all have measurement errors, so the actual calibration algorithm firstly takes the measurement resultsNormalization:
the matrix of each projection vector is orthogonalized to obtain an orthogonal matrix for calculating the installation angle, so that the influence of the measurement error on the angle calibration result can be reduced.
Then construct and v3And v4Orthogonal normalized vector
And
then
And
the following relationships exist:
thus, the following steps are obtained:
in summary, the working process of the utility model comprises the following steps:
step 4, calculating r3And r4Projection in the roadway coordinate system
And
step 6, calculating
And
obtaining an unit orthogonal matrix:
step 7: structuring with v3And v4Orthogonal normalized vector
And
step 8, calculating the final calibration result
The embodiment of the utility model has at least the following beneficial effects:
(1) the position information introduction of the laser direction indicator is realized, and manual point alignment is replaced;
(2) calibrating the installation angle of the binocular vision camera relative to the strapdown inertial navigation, which is a key for introducing the position information of the laser direction indicator;
(3) the calibration of the camera relative to the strapdown inertial navigation mounting angle can be realized by adopting a total station, the operation is simple, and the operation of a use site is convenient;
(4) the utility model does not need special equipment such as a gyro north finder and a parallel light tube, and has low cost.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A position and posture calibration system of a heading machine is characterized by at least comprising the heading machine, a strapdown inertial navigation system, a first image acquisition device, a second image acquisition device, a laser target and a laser direction indicator, wherein,
the laser target and the laser direction indicator are both arranged in a roadway, the laser target is hung on the front side of the laser direction indicator, and the laser direction indicator is used for forming light spots on the surface of the laser target;
the first image acquisition device and the second image acquisition device are arranged on the heading machine and used for acquiring light spot images on the laser target;
the strapdown inertial navigation system is arranged on the heading machine and used for determining an installation matrix of an image acquisition device coordinate system relative to the strapdown inertial navigation system, wherein the installation matrix is used for representing an installation angle of the image acquisition device coordinate system relative to the strapdown inertial navigation system so as to calibrate the pose information of the strapdown inertial navigation system in the roadway.
2. The system of claim 1, further comprising a laser ranging device, wherein,
the laser ranging device is arranged in the roadway, is arranged between the first image acquisition device and the second image acquisition device and between the laser targets and is used for measuring the displacement vector of the first image acquisition device, the displacement vector of the second image acquisition device and the displacement vector of the laser ranging device relative to the light spot on the laser target surface.
3. The system of claim 2, wherein the laser ranging device is a total station.
4. The system of claim 1, wherein the light emitted by the laser pointer is parallel to the horizontal plane defined by the roadway.
5. The system of claim 1, wherein the first image acquisition device is a first camera and the second image acquisition device is a second camera.
6. The system of claim 1, wherein a direction of a line connecting the first image capture device to the spot of light is not spatially parallel to a direction of a line connecting the second image capture device to the spot of light.
7. The system of claim 1, wherein the laser target is mounted on a top or side surface of a roadway behind the heading machine.
8. The system of claim 1, wherein the laser target is made of a translucent material.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117152274A (en) * | 2023-11-01 | 2023-12-01 | 三一重型装备有限公司 | Pose correction method and system for binocular camera of heading machine and readable storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117152274A (en) * | 2023-11-01 | 2023-12-01 | 三一重型装备有限公司 | Pose correction method and system for binocular camera of heading machine and readable storage medium |
| CN117152274B (en) * | 2023-11-01 | 2024-02-09 | 三一重型装备有限公司 | Pose correction method and system for binocular camera of heading machine and readable storage medium |
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