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CN114879210B - Target object motion monitoring method and device and computer equipment - Google Patents

Target object motion monitoring method and device and computer equipment Download PDF

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Publication number
CN114879210B
CN114879210B CN202210816162.7A CN202210816162A CN114879210B CN 114879210 B CN114879210 B CN 114879210B CN 202210816162 A CN202210816162 A CN 202210816162A CN 114879210 B CN114879210 B CN 114879210B
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point
target object
laser
reference point
initial reference
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CN114879210A (en
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赵天野
陈泳屹
葛济铭
张德晓
徐岩
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Jiguang Semiconductor Technology Co ltd
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Jiguang Semiconductor Technology Co ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483Details of pulse systems
    • G01S7/484Transmitters
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491Details of non-pulse systems
    • G01S7/4911Transmitters

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  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

According to the method and the device for monitoring the action of the target object and the computer equipment, the laser mode control module generates the Gaussian beam, and the laser mode control module is divided into three modes, namely linear laser, single-point laser and multipoint laser. The scanning and the positioning of the target object can be completed by sequentially switching three different laser modes, the multiple laser modes are mutually switched and matched, the reflected light spot of the target object is optimized by the laser mode control module and the light spot acquisition module, so that the system can accurately acquire the spatial position information of the target object, the laser scanning technology and the high-precision sensing target object system are highly matched, the monitoring technology in the prior art is improved, and the positioning precision and the feedback precision of the system are improved.

Description

Target object motion monitoring method and device and computer equipment
Technical Field
The invention relates to the field of laser monitoring, in particular to a target object motion monitoring method and device and computer equipment.
Background
The mechanical arm monitoring technology is a laser detection and control feedback technology generated in order to avoid movement errors when an operator needs to use a mechanical arm to perform precise position movement, and mainly aims to monitor the spatial position of the mechanical arm in real time, judge the consistency of the movement amount of the mechanical arm and an operator source command, and timely perform feedback adjustment on the positioning posture of the mechanical arm, so that the mechanical arm can accurately complete a series of complex and precise actions. In aspects of industrial production, scientific research experiment and the like, the robot arm can be used for precise operation, so that the technology plays a certain promoting role in the development of the robot arm in other industries. However, the existing mechanical arm monitoring system has a single control mode, and a specific operation flow is not formed yet, so that a monitoring control method which can calculate the spatial position movement of the mechanical arm and can perform real-time feedback adjustment on a generated tiny error is required.
The photoelectric instrument using the point laser as the measuring light source has an accurate distance measuring function, and the instrument can quickly and accurately reflect the distance between a target object and the laser light source; an optoelectronic instrument using a linear laser as a measurement light source can finely scan the contour of a target object to form a three-dimensional model of the target object on a display screen. The development of the two technologies has undergone many times of updating, and a multi-range and high-precision measurement mode can be realized at present.
The photoelectric system for the monitoring field can be formed by simply combining a plurality of light source modes and measurement modes, but the problems of inaccurate measurement space position, insufficient system integration degree and the like exist at present, the photoelectric system cannot be applied to a high-precision mechanical arm system, and no clear feedback regulation mechanism exists for the mechanical arm system.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method, an apparatus, and a computer device for monitoring a target object motion, which adopt a plurality of laser modes to switch and cooperate with each other, perform multiple times of optimized selection processing on a reflected light spot of a target object, and improve positioning accuracy and feedback accuracy of a system.
In a first aspect, an embodiment of the present invention provides a method for monitoring an action of a target, where a laser mode control module generates a gaussian beam, and the laser mode control module includes three modes, i.e., a linear laser mode, a single-point laser mode, and a multi-point laser mode, and the method includes:
switching the laser mode control module to a linear laser mode, integrally scanning a monitoring area of a target object by using linear laser to obtain a three-dimensional profile of the target object, and recording space profile information of the three-dimensional profile when the gray value of the three-dimensional profile reaches a preset value condition;
switching the laser mode control module to a single-point laser mode, irradiating any point position of the monitoring area by using single-point laser, and recording space coordinate data of the any point position by taking the any point position as an initial reference point when the spot reflection intensity and the Gaussian image linearity of the any point position reach a preset threshold condition;
and switching the laser mode control module to a multi-point laser mode, emitting a plurality of point-like lasers to cover the monitoring area to obtain a plurality of covering points, and calculating the difference value of the space coordinate of each covering point and the space coordinate data of the initial reference point to obtain the relative space position relation between the plurality of covering points and the initial reference point.
As an optional solution, the method further comprises:
analyzing a source command to obtain a target position point coordinate where the target object is to move, and determining a spatial position relation between the initial reference point and a plurality of covering points according to the target position point coordinate;
when the target object is judged not to meet a first preset condition after completing movement according to a source command, determining a first relative position relation between a current position point and the initial reference point, determining a first compensation displacement of the target object based on the first relative position relation, moving the target object by using the first compensation displacement to complete first compensation, and taking the current position point as a new reference point;
and determining a second relative position relation between the plurality of coverage points and the new reference point, determining a second compensation displacement amount required by the self state of the target object by using the second relative position relation, and controlling the target object according to the second compensation displacement amount to complete second compensation so as to complete feedback regulation control of the target object.
As an optional scheme, the switching the laser mode control module to the line laser mode to obtain a three-dimensional profile of the target object and recording spatial profile information of the three-dimensional profile when a gray value of the three-dimensional profile reaches a preset value includes:
and switching to a linear laser mode, rotating the irradiation direction to enable linear laser to be positioned in a monitoring area of the target object, forming diffuse reflection laser after the linear laser passes through diffuse reflection of the monitoring area, analyzing the diffuse reflection laser by an imaging system, transmitting the diffuse reflection laser to a photoelectric detector to complete collection, adjusting the photoelectric detector to be single-row pixel response, completing single-row scanning once the linear laser rotates once, and storing image information obtained by scanning into the photoelectric detector until the scanning is finished to obtain the space profile information of the three-dimensional profile of the target object.
As an optional solution, the method further includes:
recording the three-dimensional contour map when the gray value of the three-dimensional contour map is determined to meet a preset value condition;
and when the gray value of the three-dimensional contour map is determined not to meet the preset value condition, the linear laser is rotated again for scanning until the preset value condition is met, and the scanning is finished.
As an optional scheme, the switching the laser mode control module to a single-point laser mode, when a single-point laser is used to irradiate any point position of the monitoring area and both the spot reflection intensity and the gaussian image linearity at the any point position reach a preset threshold condition, taking the any point position as an initial reference point, and recording spatial coordinate data at the any point position includes:
and switching to a single-point laser mode, controlling single-point laser to irradiate any point position of the monitoring area, adjusting the photoelectric detector to be global pixel response, collecting and judging whether the light spot reflection intensity and the Gaussian image linearity at any point position both meet a set threshold condition, and if so, taking the any point position as an initial reference point and recording space coordinate data.
As an optional scheme, the switching the laser mode control module to a multi-point laser mode, emitting a plurality of beams of point-like laser to cover the monitoring area to obtain a plurality of covering points, and performing difference calculation on the spatial coordinates of each covering point and the spatial coordinate data of the initial reference point to obtain the relative spatial position relationship between the plurality of covering points and the initial reference point includes:
switching to a multipoint laser mode, emitting a plurality of spot laser beams to cover the monitoring area of the target object, forming diffuse reflection laser beams after the spot laser beams are subjected to diffuse reflection in the monitoring area, and calculating the difference value of the space coordinate of each covering point and the space coordinate data of the initial reference point to obtain the relative space position relation between each covering point and the initial reference point.
As an optional scheme, the method further comprises the following steps:
and when the target object is judged to meet a first preset condition after completing the movement according to the source command, the target object is not corrected.
As an alternative, the preset value condition is that the gray-scale value is greater than or equal to 20%, and the preset threshold condition is that the spot reflection intensity at any point position is greater than 50% of the initial emergent laser intensity and the difference in linearity of the gaussian fit image at any point position is less than 0.0001.
As an optional scheme, the switching the laser mode control module to a multi-point laser mode, emitting a plurality of beams of point-like laser to cover the monitoring area to obtain a plurality of covering points, and performing difference calculation on the spatial coordinates of each covering point and the spatial coordinate data of the initial reference point to obtain the relative spatial position relationship between the plurality of covering points and the initial reference point includes:
recording the spatial coordinate data (x) of the initial reference point 0 , y 0 , z 0 ) Switching to multi-spot laser and emitting n-spot laser coverageTo the monitoring area, the spatial coordinates (x) of n coverage points are determined 1 , y 1 , z 1 ),(x 2 , y 2 , z 2 )···(x n , y n , z n ) Spatial coordinate data (x) with initial reference point 0 , y 0 , z 0 ) Calculating the difference value to obtain the relative space distance between the n covering points and the initial reference point
Figure 865213DEST_PATH_IMAGE001
And m is more than or equal to 1, wherein n is more than or equal to 5, and the accurate spatial position information of the target object is acquired.
As an optional solution, when it is determined that the first preset condition is not satisfied after the target object completes moving according to the source command, determining a first relative position relationship between the current position point and the initial reference point, determining a first compensation displacement amount of the target object based on the first relative position relationship, moving the target object by using the first compensation displacement amount to complete first compensation, and taking the current position point as a new reference point, includes:
obtaining target location point coordinates (x) to which the target object is to be moved s , y s , z s ) Calculating to obtain the spatial position relation between the target position point and the initial reference point and among other reference points;
after the moving command of the target object is completed, judging whether the current position point is coincident with the initial reference point, judging whether the relative position relation between each other covering point and the current position point is the same as the initial value, and if the relative position relation meets the initial value, not correcting the target object;
if one of the judging conditions is not met, determining the relative position distance between the current position point and the initial reference point to obtain the compensation displacement of the target object as
Figure 763899DEST_PATH_IMAGE002
Controlling the target object to complete the first compensation and using the current position point as a new reference point: (x e , y e , z e );
The determining a second relative position relationship between the plurality of coverage points and the new reference point, determining a second compensation displacement amount required by the state of the target object by using the second relative position relationship, and controlling the target object to complete second compensation according to the second compensation displacement amount to complete feedback adjustment control of the target object, includes:
determining the relative position relationship between each other covering point and the new reference point to obtain a second compensation displacement of the self posture of the target object
Figure 739945DEST_PATH_IMAGE003
And m is more than or equal to 1, and the target object is controlled by utilizing the second compensation displacement to complete the second compensation so as to complete the integral feedback regulation control of the target object.
In a second aspect, an embodiment of the present invention provides a target motion monitoring device, including:
the laser mode control module is used for generating Gaussian beams and comprises three modes of linear laser, single-point laser and multipoint laser;
and the light spot acquisition module is used for analyzing and storing images of light spots formed by diffuse reflection formed by irradiating the linear laser, the single-point laser and the multi-point laser on a target object.
As an optional scheme, the method further comprises the following steps:
the monitoring processing module is used for analyzing the source command to obtain the coordinates of a target position point to be moved by the target object, and determining the spatial position relation between the initial reference point and the plurality of covering points according to the coordinates of the target position point;
the feedback adjusting module is used for determining a first relative position relation between a current position point and the initial reference point when the target object is judged not to meet a first preset condition after completing movement according to a source command, determining a first compensation displacement of the target object based on the first relative position relation, moving the target object by using the first compensation displacement to complete first compensation, and taking the current position point as a new reference point;
the feedback adjusting module is further configured to determine a second relative position relationship between the plurality of coverage points and the new reference point, determine a second compensation displacement amount required by the state of the target object by using the second relative position relationship, and control the target object according to the second compensation displacement amount to complete second compensation, so as to complete feedback adjustment control of the target object.
As an alternative, the light spot collection module includes a photodetector and an optical imaging group.
In a third aspect, an embodiment of the present invention provides a computer device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of object motion monitoring described above.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the above-mentioned target object motion monitoring method.
In a fifth aspect, an embodiment of the present invention provides a computer program product comprising a computer program, which when executed by a processor, implements the method for monitoring the motion of an object according to the above.
The embodiment of the invention provides a method and a device for monitoring the action of a target object. The scanning and the positioning of the target object can be completed by sequentially switching three different laser modes, the multiple laser modes are mutually switched and matched, and the reflected light spots of the target object are optimized by the laser mode control module and the light spot acquisition module, so that the system can accurately acquire the spatial position information of the target object. Furthermore, the monitoring processing module and the feedback adjusting module can accurately complete the position change monitoring and the motion compensation control of the target object, so that the laser scanning technology and the high-precision sensing target object system realize high cooperation, the monitoring technology in the prior art is improved, and the positioning precision and the feedback precision of the system are improved.
Drawings
FIG. 1 is a flow chart of a method for monitoring movement of a target object according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating another method for monitoring movement of a target object according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a target motion monitoring device according to an embodiment of the present invention;
fig. 4 is a block diagram of a computer device provided in the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, an embodiment of the present invention provides a method for monitoring an action of a target, in which a laser mode control module generates a gaussian beam, the laser mode control module includes three modes, i.e., a linear laser mode, a single-point laser mode, and a multi-point laser mode, and the method includes:
s101, switching the laser mode control module to a linear laser mode, integrally scanning a monitoring area of a target by using linear laser to obtain a three-dimensional profile of the target, and recording space profile information of the three-dimensional profile when the gray value of the three-dimensional profile reaches a preset value.
S102, switching the laser mode control module to a single-point laser mode, irradiating any point position of the monitoring area by using single-point laser, and recording space coordinate data of the any point position by taking the any point position as an initial reference point when the spot reflection intensity and the Gaussian image linearity of the any point position reach preset threshold conditions.
S103, switching the laser mode control module to a multi-point laser mode, emitting a plurality of beams of point-like laser to cover the monitoring area to obtain a plurality of covering points, and calculating the difference value of the space coordinate of each covering point and the space coordinate data of the initial reference point to obtain the relative space position relation between the plurality of covering points and the initial reference point.
It should be noted that, in the embodiment of the present invention, the gaussian beam may adopt an infrared band, or may adopt other bands as needed, any point may be a central position of the monitoring area, the target object may be a mechanical arm, the motion of the mechanical arm may be detected, and an object of the target object may be flexibly selected as needed, which is not limited herein.
The method comprises the steps of firstly, switching to a linear mode, rotating the laser irradiation direction to enable the laser irradiation direction to completely cover a monitored area of a target object to be scanned, such as a mechanical arm, storing and processing images of the monitored area by a light spot acquisition module, wherein the light spot acquisition module is composed of a photoelectric detector and an optical imaging group, light spot information to be acquired is analyzed by the optical imaging group and then transmitted to the photoelectric detector to be collected, the photoelectric detector responds to a single row of pixels, scanning can be completed once when the linear laser is rotated once, the image information can be stored in the photoelectric detector until the scanning is completed, and the integral three-dimensional outline of the target object can be obtained. Then, whether the gray value of the image meets a preset value condition or not needs to be judged, and if the gray value meets the preset value condition, the spatial profile information of the image in the monitored area is recorded and used as auxiliary data for monitoring; if the preset value condition is not met, the line laser needs to be rotated again to scan again until the condition is met and scanning is finished.
Secondly, switching to a single-point laser mode, controlling single-point laser of the thin beam to irradiate any point position of the monitoring area, setting a photoelectric detector as global pixel response, collecting and judging whether the light spot reflection intensity and the Gaussian image linearity of the irradiation point at any point position meet the set threshold condition, if so, taking the irradiation point at any point position as an initial reference point, and recording the spatial coordinate data of the initial reference point; if one of the conditions is not satisfied, the initial reference point needs to be selected again.
And thirdly, switching to a multi-point laser mode, emitting a plurality of points of laser to cover the target object monitoring area, taking the points corresponding to the monitoring area irradiated by the point laser as covering points, and calculating the difference value between the space coordinate of each covering point and the coordinate of the initial reference point to obtain the relative space position relationship between each covering point and the initial reference point. At this time, the system completes the acquisition of accurate spatial position information of the target object.
Referring to fig. 2, in the method for monitoring the movement of the target object according to the embodiment of the present invention, the laser mode control module generates a gaussian beam, and the laser mode control module is divided into three modes, i.e., a linear laser mode, a single-point laser mode and a multi-point laser mode. The scanning and positioning of the target object can be completed by sequentially switching three different laser modes, multiple laser modes are adopted for mutual switching and matching, multiple times of optimized selection processing is carried out on reflected light spots of the target object, the laser scanning technology and a high-precision sensing target object system are highly matched, the monitoring technology in the prior art is improved, and the positioning precision and the feedback precision of the system are improved.
The embodiment of the invention also provides a target object motion monitoring method, which comprises the following steps:
s201, switching the laser mode control module to a linear laser mode, carrying out integral scanning on a monitoring area of a target by using linear laser to obtain a three-dimensional profile of the target, and recording space profile information of the three-dimensional profile when the gray value of the three-dimensional profile reaches a preset value.
The laser mode control module 1 generates 980nm infrared band Gaussian beams, the beam divergence angle of the infrared band Gaussian beams is smaller than 0.5mrad, the beam diameter is 4mm, and the interior of the laser mode control module 1 is divided into three modes, namely linear laser 2, single-point laser 3 and multi-point laser 4. The scanning and positioning of the target object can be completed by sequentially switching three different laser modes.
The scanning method comprises the steps of switching to linear laser 2, rotating the laser irradiation direction to enable the linear laser 2 to completely cover a monitoring area 5 of a target object to be scanned, and completing storage and processing of an image of the monitoring area 5 by a light spot acquisition module 6, wherein the light spot acquisition module is composed of a photoelectric detector 7 and an optical imaging group 8, the pixel resolution of the photoelectric detector 7 is 5120 × 5120, the pixel size is 10 μm, the optical imaging group 8 is composed of more than or equal to 4 lenses, and the optical imaging group 8 is a four-piece imaging system in the embodiment and specifically comprises a double convex lens, a plano-concave lens and a positive power lens. After being analyzed by the optical imaging group 8, the light spot information to be collected is transmitted to the photoelectric detector 7 to be collected, at the moment, the photoelectric detector 7 is in single-row pixel response, scanning can be completed once when the line laser is rotated once, the image information of the monitoring area 5 can be stored in the photoelectric detector until the scanning is finished, and the integral three-dimensional outline of the target object can be obtained. The preset value condition is that the gray value is greater than or equal to 20% of the preset value, whether the gray value of the three-dimensional contour map meets the preset value of greater than or equal to 20% is judged, and if the gray value meets the preset value of greater than or equal to 20%, the spatial contour information of the image is recorded and used as auxiliary data for monitoring; if the preset value is not met, the line laser needs to be rotated again to scan again until the condition is met.
S202, switching the laser mode control module to a single-point laser mode, irradiating any point position of the monitoring area by using single-point laser, and recording space coordinate data of the any point position by taking the any point position as an initial reference point when the spot reflection intensity and the Gaussian image linearity of the any point position reach preset threshold conditions.
Switching to a single-point laser 3, controlling the single-point laser irradiation of the thin beam to any point position of the monitored area, setting a photoelectric detector 7 to be global pixel response, collecting and judging whether the light spot reflection intensity of the irradiation point at any point position is greater than 50% of the initial emergent laser intensity, simultaneously judging whether the linearity difference of a Gaussian fitting image of the irradiation point at any point position is less than 0.0001, if the conditions are met, taking the irradiation point at any point position as an initial reference point, and recording the space coordinate data (x) of the initial reference point 0 , y 0 , z 0 ) (ii) a If one of the conditions is not satisfied, the initial reference point needs to be selected again.
S203, switching the laser mode control module to a multi-point laser mode, emitting a plurality of beams of point-like laser to cover the monitoring area to obtain a plurality of covering points, and calculating the difference value of the space coordinate of each covering point and the space coordinate data of the initial reference point to obtain the relative space position relation between the plurality of covering points and the initial reference point.
Switching to multi-point laser 4, emitting n beam spot-shaped laser (n is more than or equal to 5) to cover the monitoring area 5, and covering the space coordinates of n covered points ((n is more than or equal to 5))x 1 , y 1 , z 1 ),(x 2 , y 2 , z 2 )···(x n , y n , z n ) Calculating the difference value of the coordinate of the initial reference point and the coordinate of the initial reference point to obtain the relative space distance between the n covering points and the initial reference point
Figure 15069DEST_PATH_IMAGE004
And m is more than or equal to 1, and the acquisition of the accurate spatial position information of the target object is completed.
S204, analyzing the source command to obtain the coordinates of the target position point to be moved of the target object, and determining the spatial position relation between the initial reference point and the plurality of coverage points according to the coordinates of the target position point.
When the position information of the target object changes, the monitoring processing module is started to analyze a source command of an operator, coordinates of a target position point to which the target object is moved are obtained, and spatial position relations between the target position point and the initial reference point and among other coverage points are obtained through calculation.
Specifically, when the position information of the target object changes, the monitoring processing module 9 is started to analyze the source command of the operator to obtain the coordinates (x) of the target position point to which the target object is to be moved s , y s , z s ) And calculating to obtain the spatial position relation between the target position point and the initial reference point and other reference points.
S205, when the target object is judged not to meet a first preset condition after completing the movement according to the source command, determining a first relative position relation between the current position point and the initial reference point, determining a first compensation displacement of the target object based on the first relative position relation, moving the target object by using the first compensation displacement to complete the first compensation, and taking the current position point as a new reference point.
After the moving command of the target object is completed, judging whether the current position point is superposed with the initial reference point, judging whether the relative position relation between each other covering point and the current position point is the same as the initial value, and if the relative position relation meets the conditions, correcting the target object is not needed; if one of the determination conditions is not met, the feedback adjustment module 10 needs to be started, the feedback adjustment module 10 controls the target object to perform motion compensation, firstly, the relative position relationship between the current position point and the initial reference point needs to be calculated, the compensation displacement amount needed by the target object is obtained, the target object is moved to complete the first compensation, and the current position point is used as a new reference point.
Specifically, after the moving command of the target object is completed, whether the current position point is overlapped with the initial reference point or not is judged, whether the relative position relation between each other covering point and the current position point is the same as the initial value or not is judged, and if the relative position relation meets the conditions, the mechanical arm does not need to be corrected; if one of the judgment conditions is not met, motion compensation is needed, firstly, the relative position distance between the current position point and the initial reference point needs to be calculated, and the compensation displacement quantity needed by the target object is obtained as
Figure 392961DEST_PATH_IMAGE002
The moving object completes the first compensation and takes the current position point as a new reference point (x) e , y e , z e )。
S206, determining a second relative position relation between the plurality of coverage points and the new reference point, determining a second compensation displacement amount required by the self state of the target object by using the second relative position relation, and controlling the target object to complete second compensation according to the second compensation displacement amount so as to complete feedback regulation control of the target object.
Specifically, the relative position relationship between each other coverage point and the new reference point needs to be calculated, and the compensation displacement amount required by the posture of the target object is obtained as
Figure 462548DEST_PATH_IMAGE003
And m is more than or equal to 1, the mechanical arm is controlled to complete the second compensation, and the integral feedback regulation control is realized.
The embodiment of the invention provides a target object motion monitoring method.A laser mode control module generates a Gaussian beam, and the module is divided into three modes, namely linear laser, single-point laser and multipoint laser. The scanning and positioning of the target object can be completed by sequentially switching three different laser modes, the multiple laser modes are mutually switched and matched, reflected light spots of the target object are optimized by the laser mode control module and the light spot acquisition module, the system can accurately acquire the spatial position information of the target object, the position change monitoring and motion compensation control of the target object can be accurately completed by the monitoring processing module and the feedback adjusting module, the laser scanning technology and the high-precision sensing target object system are highly matched, the monitoring technology in the prior art is improved, and the positioning precision and the feedback precision of the system are improved.
Referring to fig. 3, correspondingly, an embodiment of the present invention provides a target motion monitoring apparatus, including:
the laser mode control module 1 is used for generating Gaussian beams, specifically, the Gaussian beams with the infrared band of 980nm can be generated, the beam divergence angle is smaller than 0.5mrad, the beam diameter is 4mm, and the laser mode control module comprises three modes of linear laser 2, single-point laser 3 and multi-point laser 4;
and the light spot acquisition module 6 is used for analyzing and storing images of light spots formed by diffuse reflection formed in the monitoring area 5 of the target object irradiated by the linear laser 2, the single-point laser 3 and the multi-point laser 4.
As an optional scheme, the method further comprises the following steps:
the monitoring processing module 9 is configured to analyze the source command to obtain a target position point coordinate where the target object is to be moved, and determine a spatial position relationship between the initial reference point and the plurality of coverage points according to the target position point coordinate;
a feedback adjustment module 10, configured to determine a first relative position relationship between a current position point and the initial reference point when it is determined that a first preset condition is not satisfied after the target object completes movement according to a source command, determine a first compensation displacement of the target object based on the first relative position relationship, move the target object by using the first compensation displacement to complete first compensation, and use the current position point as a new reference point;
the feedback adjustment module 10 is further configured to determine a second relative position relationship between the plurality of coverage points and the new reference point, determine a second compensation displacement amount required by the state of the target object by using the second relative position relationship, and control the target object according to the second compensation displacement amount to complete a second compensation, so as to complete feedback adjustment control of the target object.
As an optional scheme, the light spot collecting module 6 includes a photodetector 7 and an optical imaging group 8, in this embodiment, the pixel resolution of the photodetector 7 may be 5120 × 5120, and the pixel size is 10 μm, the optical imaging group 8 includes at least four lenses, and in this embodiment, the optical imaging group 8 employs a four-piece imaging system, specifically including a double convex lens, a plano-concave lens, and a positive power lens.
The embodiment of the invention provides a target object motion monitoring device, wherein a laser mode control module generates a Gaussian beam, and the laser mode control module is divided into three modes, namely linear laser, single-point laser and multipoint laser. The scanning and the positioning of the target object can be completed by sequentially switching three different laser modes, the multiple laser modes are mutually switched and matched, and the reflected light spots of the target object are optimized by the laser mode control module and the light spot acquisition module, so that the system can accurately acquire the spatial position information of the target object. Furthermore, the monitoring processing module and the feedback adjusting module can accurately complete the position change monitoring and the motion compensation control of the target object, so that the laser scanning technology and the high-precision sensing target object system realize high cooperation, the monitoring technology in the prior art is improved, and the positioning precision and the feedback precision of the system are improved.
Accordingly, the invention also provides a computer device, a readable storage medium and a computer program product according to the embodiments of the invention.
Fig. 4 is a schematic structural diagram of a computer device 12 provided in the embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 4 is only one example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 4, computer device 12 is in the form of a general purpose computing device. Computer device 12 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, computer device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and data processing by executing programs stored in the system memory 28, for example, to implement the target object motion monitoring method provided by the embodiment of the present invention.
The embodiment of the invention also provides a non-transitory computer readable storage medium which stores computer instructions and stores a computer program, wherein the program is executed by a processor to perform the target object motion monitoring method provided by all the invention embodiments of the application.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
An embodiment of the present invention further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for monitoring the motion of the target object is implemented.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed herein can be achieved, and the present disclosure is not limited herein.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (14)

1. A target object motion monitoring method is characterized in that a laser mode control module generates a Gaussian beam, the laser mode control module comprises three modes of linear laser, single-point laser and multipoint laser, and the method comprises the following steps:
switching the laser mode control module to a linear laser mode, carrying out integral scanning on a monitoring area of a target object by using linear laser to obtain a three-dimensional profile of the target object, and recording the spatial profile information of the three-dimensional profile when the gray value of the three-dimensional profile reaches a preset value condition;
switching the laser mode control module to a single-point laser mode, irradiating any point position of the monitoring area by using single-point laser, taking the any point position as an initial reference point when the light spot reflection intensity and the Gaussian image linearity at the any point position both reach a preset threshold condition, and recording space coordinate data at the any point position;
and switching the laser mode control module to a multi-point laser mode, emitting a plurality of point-like lasers to cover the monitoring area to obtain a plurality of covering points, and calculating the difference value of the space coordinate of each covering point and the space coordinate data of the initial reference point to obtain the relative space position relation between the plurality of covering points and the initial reference point.
2. The target object motion monitoring method of claim 1, further comprising:
analyzing a source command to obtain a target position point coordinate where the target object is to move, and determining a spatial position relation between the initial reference point and the plurality of coverage points according to the target position point coordinate;
after the target object finishes moving according to a source command, when a first preset condition is judged not to be met, determining a first relative position relation between a current position point and the initial reference point, determining a first compensation displacement of the target object based on the first relative position relation, moving the target object by using the first compensation displacement to finish first compensation, and taking the current position point as a new reference point;
determining a second relative position relation between the plurality of coverage points and the new reference point, determining a second compensation displacement amount required by the self state of the target object by using the second relative position relation, and controlling the target object according to the second compensation displacement amount to complete second compensation so as to complete feedback regulation control of the target object.
3. The method for monitoring the motion of the target object according to claim 1, wherein the step of switching the laser mode control module to the linear laser mode to obtain a three-dimensional profile of the target object and recording the spatial profile information of the three-dimensional profile when the gray value of the three-dimensional profile reaches a preset value comprises the steps of:
and switching to a linear laser mode, rotating the irradiation direction to enable linear laser to be positioned in a monitoring area of the target object, forming diffuse reflection laser after the linear laser is subjected to diffuse reflection in the monitoring area, analyzing the diffuse reflection laser by an imaging system, transmitting the diffuse reflection laser to a photoelectric detector to complete collection, completing one-row scanning every time the linear laser is rotated, storing image information obtained by scanning into the photoelectric detector until the scanning is finished, and obtaining the space profile information of the three-dimensional profile of the target object.
4. The object motion monitoring method according to claim 3, further comprising:
when the gray value of the three-dimensional contour map is determined to meet a preset value condition, recording the three-dimensional contour map;
and when the gray value of the three-dimensional contour map is determined not to meet the preset value condition, the linear laser is rotated again for scanning until the preset value condition is met, and then the scanning is finished.
5. The method for monitoring the movement of the target object according to claim 1 or 3, wherein the laser mode control module is switched to a single-point laser mode, and when a single-point laser is used for irradiating any one point position of the monitoring area and the spot reflection intensity and the Gaussian image linearity at the any one point position reach a preset threshold condition, the any one point position is used as an initial reference point, and the spatial coordinate data at the any one point position is recorded, and the method comprises the following steps:
and switching to a single-point laser mode, controlling single-point laser to irradiate any point position of the monitoring area, collecting and judging whether the spot reflection intensity and the Gaussian image linearity at any point position both meet a set threshold condition by a photoelectric detector, and if so, taking the any point position as an initial reference point and recording space coordinate data.
6. The method for monitoring the movement of the target object according to claim 5, wherein switching the laser mode control module to a multi-point laser mode, emitting a plurality of point-like laser beams to cover the monitoring area to obtain a plurality of covered points, and performing a difference calculation between the spatial coordinates of each covered point and the spatial coordinate data of the initial reference point to obtain the relative spatial position relationship between the plurality of covered points and the initial reference point comprises:
switching to a multipoint laser mode, emitting a plurality of dotted laser beams to cover the monitoring area of the target object, forming diffused reflection laser beams after the dotted laser beams are diffused and reflected by the monitoring area, and calculating the difference value of the space coordinate of each covering point and the space coordinate data of the initial reference point to obtain the relative space position relation between each covering point and the initial reference point.
7. The target motion monitoring method according to claim 2, further comprising:
and after the target object finishes moving according to the source command, when judging that a first preset condition is met, not correcting the target object.
8. The method according to claim 5, wherein the preset value condition is that the gray-level value is greater than or equal to 20%, and the preset threshold condition is that the spot reflection intensity at any one point is greater than 50% of the initial emergent laser intensity and the difference in linearity of the Gaussian-fit image at any one point is less than 0.0001.
9. The method for monitoring the movement of the target object according to claim 6, wherein switching the laser mode control module to a multi-point laser mode, emitting a plurality of point-like laser beams to cover the monitoring area to obtain a plurality of covered points, and performing a difference calculation between the spatial coordinates of each covered point and the spatial coordinate data of the initial reference point to obtain the relative spatial position relationship between the plurality of covered points and the initial reference point comprises:
recording the spatial coordinate data (x) of the initial reference point 0 , y 0 , z 0 ) Switching to multi-point laser, emitting n-point beam spot-shaped laser to cover the monitoring area, and covering the space coordinates (x) of n covered points 1 , y 1 , z 1 ),(x 2 , y 2 , z 2 )···(x n , y n , z n ) Spatial coordinate data (x) with initial reference point 0 , y 0 , z 0 ) Calculating the difference to obtain the relative space distance between the n covering points and the initial reference point as
Figure 381771DEST_PATH_IMAGE001
And m is more than or equal to 1, wherein n is more than or equal to 5, and the accurate spatial position information of the target object is acquired.
10. The method for monitoring the movement of the target object according to claim 2, wherein when it is determined that the first preset condition is not satisfied after the target object completes the movement according to the source command, determining a first relative positional relationship between the current position point and the initial reference point, determining a first compensation displacement amount of the target object based on the first relative positional relationship, and moving the target object by using the first compensation displacement amount to complete the first compensation and take the current position point as a new reference point, comprises:
obtaining target location point coordinates (x) to which the target object is to be moved s , y s , z s ) Calculating to obtain the spatial position relation between the target position point and the initial reference point and among other reference points;
after the moving command of the target object is completed, judging whether the current position point is coincident with the initial reference point, judging whether the relative position relation between each other covering point and the current position point is the same as the initial value, and if the relative position relation meets the initial value, not correcting the target object;
if one of the judging conditions is not met, determining the relative position distance between the current position point and the initial reference point to obtain the compensation displacement of the target object as
Figure 461723DEST_PATH_IMAGE002
Controlling the target object to complete the first compensation and using the current position point as a new reference point (x) e , y e , z e );
Determining a second relative position relationship between the plurality of coverage points and the new reference point, determining a second compensation displacement amount required by the self state of the target object by using the second relative position relationship, and controlling the target object according to the second compensation displacement amount to complete second compensation so as to complete feedback regulation control of the target object, wherein the second relative position relationship comprises the following steps:
determining the relative position relationship between each other covering point and the new reference point to obtain a second compensation displacement of the self posture of the target object
Figure 487448DEST_PATH_IMAGE003
And m is more than or equal to 1, and the target object is controlled by utilizing the second compensation displacement to complete the second compensation so as to complete the integral feedback regulation control of the target object.
11. An object motion monitoring device, comprising:
the laser mode control module is used for generating Gaussian beams and comprises three modes of linear laser, single-point laser and multipoint laser; the laser mode control module is switched to a linear laser mode, linear laser is used for integrally scanning a monitoring area of a target object to obtain a three-dimensional profile map of the target object, and when the gray value of the three-dimensional profile map reaches a preset value condition, the spatial profile information of the three-dimensional profile map is recorded; switching the laser mode control module to a single-point laser mode, irradiating any point position of the monitoring area by using single-point laser, taking the any point position as an initial reference point when the spot reflection intensity and the Gaussian image linearity of the any point position reach a preset threshold condition, and recording the spatial coordinate data of the any point position; switching the laser mode control module to a multi-point laser mode, emitting a plurality of point-like lasers to cover the monitoring area to obtain a plurality of covering points, and calculating the difference value of the space coordinate of each covering point and the space coordinate data of the initial reference point to obtain the relative space position relation between the plurality of covering points and the initial reference point;
the light spot acquisition module is used for analyzing and storing images of light spots formed by diffuse reflection formed by irradiating the linear laser, the single-point laser and the multi-point laser on a target object;
the monitoring processing module is used for analyzing the source command to obtain the coordinates of a target position point to be moved by the target object, and determining the spatial position relation between the initial reference point and the plurality of covering points according to the coordinates of the target position point;
the feedback adjusting module is used for determining a first relative position relation between a current position point and the initial reference point when the target object finishes moving according to a source command and does not meet a first preset condition, determining a first compensation displacement of the target object based on the first relative position relation, moving the target object by using the first compensation displacement to finish first compensation, and taking the current position point as a new reference point;
the feedback adjustment module is further configured to determine a second relative position relationship between the plurality of coverage points and the new reference point, determine a second compensation displacement amount required by the state of the target object by using the second relative position relationship, and control the target object according to the second compensation displacement amount to complete second compensation, so as to complete feedback adjustment control of the target object.
12. The device for monitoring the motion of the target object according to claim 11, wherein the light spot collection module comprises a photoelectric detector and an optical imaging group.
13. A computer device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the object motion monitoring method of any one of claims 1 to 10.
14. A non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the target motion monitoring method according to any one of claims 1 to 10.
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