Pose Estimation of Building Fire-fighting Facilities Using Structural Constraint Measurement System

In the information modeling of fire-fighting facilities for old buildings or cultural relics, it is necessary to manually measure the spatial pose of the fire-fighting facilities. In order to ensure that the measurement process does not cause damage to the building and has good operability, a non-contact measuring device for the relative position of building fire-fighting facilities using the handheld alignment mode of end mechanism is designed. The device is used for building fire-fighting modeling with image acquisition equipment, and its structural design needs to meet specific constraints such as viewing angles, obstacle avoidance, and retracting. Through the magnetic scale, encoder and laser rangefinder, real-time measurement of the distance and angle data of the device is realized. On this basis, the DH method is used to construct the kinematic model of the measuring device, and the kinematic simulation and workspace simulation are carried out. The real-time online display of spatial pose measurement results is realized, which proves the rationality and effectiveness of the design.