A method and device for light intensity collection and automatic position and posture labeling

Abstract

The present invention proposes a method and device for light intensity collection and automatic position and posture labeling, which relates to the technical field of light intensity data collection, and includes the following steps: S1, collecting and acquiring light intensity data and corresponding collection moments through a light intensity receiver; S2, calculating the position of the light intensity receiver at each corresponding collection moment based on the light intensity data; S3, making the position of the light intensity receiver at each corresponding collection moment correspond to the light intensity data to form a matching database for the position; S4, conducting deep learning based on the matching database to establish a neural network model; S5, inputting the light intensity data into the neural network model to obtain the position and posture of the light intensity in real time; while recording the light intensity data collected by each photodiode (PD) on the light intensity collection device, the present invention obtains the three-dimensional coordinates of the PD through the conversion of the coordinate system, forms a matching data pair of the coordinates and the light intensity, saves the work of manually labeling the position, and can automatically record after changing the light intensity receiving position.

Description

Technical Field

[0001] The present invention relates to the technical field of light intensity data collection, and in particular to a method and device for light intensity collection and automatic position and posture labeling. Background Art

[0002] As a kind of information, light intensity plays an important role in human production and life. Light intensity acquisition system refers to the automatic collection of light intensity data at any location. Light intensity acquisition involves many disciplines such as modern communication technology, microelectronics technology, sensor technology, etc. It has important applications in international military, environmental monitoring, biological living environment monitoring, deep-water fishing alarm, etc. In agriculture, light intensity determines the quality of crops, so it is necessary to control the light intensity within a specified range. At the same time, poultry houses can make poultry grow rapidly by controlling light intensity. In industry, the temperature of metal smelting can be calculated by light intensity detection, and the manufacture of many industrial products requires appropriate light intensity. In scientific research, the severity of haze in the environment can be judged by the size of light intensity, and positioning based on optical communication can be completed by associating light intensity with location information. At the same time, light intensity is also an important indicator in the human living environment, which has an important impact on human vision, sleep status, etc.

[0003] Traditional light intensity collection refers to setting a photoresistor as a sensor at a specified position to obtain the light intensity at the sensor position. The collection position needs to be set in advance, and the target position needs to be manually positioned each time the collection position is changed. Manual positioning is time-consuming and labor-intensive, and is not conducive to generating a large amount of position coordinate data that can be used for machine learning.

[0004] Based on this, a method and device for light intensity collection and automatic posture labeling are proposed to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a method and device for light intensity collection and automatic position and posture labeling, which can solve the problem that traditional light intensity collection devices use manual positioning, which is time-consuming and labor-intensive.

[0006] The technical solution of the present invention is:

[0007] In a first aspect, the present application provides a method for automatically collecting and labeling light intensity and posture, which comprises the following steps:

[0008] S1, collecting and acquiring light intensity data and corresponding collection time through a light intensity receiver;

[0009] S2. Calculate the position of the light intensity receiver at each corresponding acquisition time based on the light intensity data;

[0010] S3, matching the position of the light intensity receiver at each corresponding acquisition moment with the light intensity data to form a matching database for the position;

[0011] S4, deep learning based on the matching database to establish a neural network model;

[0012] S5. Input the light intensity data into the neural network model to obtain the position and posture of the light intensity in real time.

[0013] Furthermore, the above step S1 includes:

[0014] S11, establish a world coordinate system with the laser source as the origin O and the laser emission direction as the positive direction of the Z axis, and at the same time set the midpoint P of the light intensity receiver to the positive Z semi-axis of the world coordinate system, and the plane where the light intensity receiver is located is parallel to the XOY plane of the world coordinate system;

[0015] S12. Set a fixed collection time interval of the light intensity receiver to periodically obtain the light intensity data and corresponding collection time of the light intensity receiver moving on the Z axis.

[0016] Furthermore, the step of calculating the position of the light intensity receiver at each corresponding acquisition moment in step S2 includes:

[0017] S21. Arrange multiple photodiodes evenly around the light intensity receiver, change the position of the light intensity receiver, keep the relative position of the photodiode and the light intensity receiver unchanged, and take the center P' of the changed light intensity receiver as the origin O'. The direction is the positive direction of the X' axis, and the angle between the plane where it is located and the Z axis of the world coordinate system is an acute angle. is the positive direction of Z' axis, Establish the initial coordinate system for the positive direction of the Y' axis;

[0018] S22, rotating the changed light intensity receiver around the X' axis according to the initial coordinate system to obtain a rotated coordinate system again;

[0019] S23, calculating the coordinates of the photodiode in the transformed coordinate system;

[0020] S24, calculating the coordinates of the photodiode in the initial coordinate system according to the coordinates of the photodiode in the transformed coordinate system;

[0021] S25, calculating the coordinates of the center P' of the light intensity receiver in the world coordinate system;

[0022] S26, calculating the positive direction vectors of the three coordinate axes of the initial coordinate system in the world coordinate system;

[0023] S27, calculating the coordinates of the photodiode in the world coordinate system according to the coordinates of the center P' of the light intensity receiver in the world coordinate system and the forward direction vectors of the three coordinate axes of the initial coordinate system in the world coordinate system;

[0024] S28. Obtain the position and posture of the light intensity receiver according to the coordinates of the photodiode in the world coordinate system.

[0025] Furthermore, in step S23, the formula for calculating the coordinates of the photodiode in the transformed coordinate system is:

[0026]

[0027] Among them, (x i ,y i , z i )(i=1~4) represents the coordinates of the four photodiodes on the light intensity receiver whose distance from its center is D1, and (x0, y0, z0)=(0, 0, 0) represents the coordinates of the photodiode at the center of the light intensity receiver.

[0028] Furthermore, the formula for calculating the coordinates of the photodiode in the initial coordinate system in step S24 is:

[0029]

[0030] Among them, (x1, y1, z1) represents the coordinates of a certain point of the light intensity receiver in the initial coordinate system, (x2, y2, z2) represents the coordinates of the point (x1, y1, z1) in the rotated coordinate system, and ω represents the angle of rotation of the initial coordinate system around its X' axis.

[0031] Furthermore, the formula for calculating the coordinates of the center P' of the light intensity receiver in the world coordinate system in step S25 is:

[0032]

[0033]

[0034] Among them, l represents the Z-axis coordinate of P in the world coordinate system, r represents the distance from the center point P' of the light intensity receiver to the initial point P, and θ represents The angle with the negative half axis of the Z axis of the world coordinate system, represents the angle between the projection line of the line connecting the origin and point P' on the XOY plane and the positive direction of the X axis, k represents the distance from the origin to P', θ' represents the angle between the line connecting the origin and point P' and the positive direction of the Z axis, (x p′ ,y p′ , z p′ ) represents the coordinates of point P' in the world coordinate system.

[0035] Furthermore, in step S27, the formula for calculating the coordinates of the photodiode in the world coordinate system is:

[0036]

[0037]

[0038]

[0039]

[0040] in, are the three direction vectors corresponding to the three coordinate axes of the initial coordinate system in the world coordinate system. (x1, y1, z1) represents the coordinates of a point of the light intensity receiver in the initial coordinate system. (x p’ ,y p’ , z p’ ) represents the coordinates of P' in the world coordinate system, and (x0, y0, z0) represents the coordinates of the point (x1, y1, z1) in the world coordinate system.

[0041] In the second aspect, the present application provides a light intensity posture automatic acquisition and labeling device, characterized in that it includes a laser transmitter, a light intensity receiver and a photodiode group, and a world coordinate system is established with the above-mentioned laser transmitter as the origin and the laser emission direction of the above-mentioned laser transmitter as the positive direction of the Z axis, and the above-mentioned world coordinate system includes mutually perpendicular X-axis, Y-axis and Z-axis, the above-mentioned light intensity receiver is parallel to the plane where the X-axis and Y-axis of the above-mentioned world coordinate system are located, and the above-mentioned photodiode group is respectively connected to the above-mentioned light intensity receiver and the above-mentioned laser transmitter.

[0042] Compared with the prior art, the present invention has at least the following advantages or beneficial effects:

[0043] (1) The method and device for light intensity collection and automatic position and posture marking of the present invention can save the work of manual position marking, and can automatically record after changing the light intensity receiving position;

[0044] (2) The present invention can be applied to underwater optical communication scenarios. Under water, the light intensity data collected by the PD is input into a trained neural network model to predict the three-dimensional coordinates of the PD's location, thereby obtaining the position and posture of the light intensity collection device in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 A step diagram of a method for automatically collecting and labeling light intensity and posture according to the present invention;

[0047] Figure 2 Schematic diagram of the initial position of the light intensity receiver;

[0048] Figure 3 Schematic diagram of the world coordinate system and the initial coordinate system;

[0049] Figure 4 Schematic diagram of the initial coordinate system and the transformed coordinate system. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0052] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0053] It should be noted that, in this article, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0054] In the description of this application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0055] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0056] Example 1

[0057] See also Figure 1 , Figure 1 The figure shows a step diagram of a method for automatically collecting and labeling light intensity and posture provided in Example 1 of the present application.

[0058] A method for automatically collecting and labeling light intensity and posture provided in Example 1 of the present application includes the following steps:

[0059] S1, collecting and acquiring light intensity data and corresponding collection time through a light intensity receiver;

[0060] S2. Calculate the position of the light intensity receiver at each corresponding acquisition time based on the light intensity data;

[0061] S3, matching the position of the light intensity receiver at each corresponding acquisition moment with the light intensity data to form a matching database for the position;

[0062] S4, deep learning based on the matching database to establish a neural network model;

[0063] S5. Input the light intensity data into the neural network model to obtain the position and posture of the light intensity in real time.

[0064] The present invention discloses a method for automatically collecting and labeling light intensity and posture. While recording the light intensity data collected by each photodiode on a light intensity collection device, the three-dimensional coordinates of the photodiode are obtained by converting the coordinate system to form a matching data pair of the coordinates and the light intensity. The method is then applied through deep learning, and the light intensity data collected by the photodiode is input into a trained neural network model to predict the three-dimensional coordinates of the photodiode's location, thereby obtaining the position and posture of the light intensity collection device in real time.

[0065] See also Figure 2 , Figure 2 Shown is a schematic diagram of the initial position of the light intensity receiver.

[0066] As a preferred implementation, step S1 includes:

[0067] S11, establish a world coordinate system with the laser source as the origin O and the laser emission direction as the positive direction of the Z axis, and at the same time set the midpoint P of the light intensity receiver to the positive Z semi-axis of the world coordinate system, and the plane where the light intensity receiver is located is parallel to the XOY plane of the world coordinate system;

[0068] S12. Set a fixed collection time interval of the light intensity receiver to periodically obtain the light intensity data and corresponding collection time of the light intensity receiver moving on the Z axis.

[0069] Among them, the center of the light intensity receiver is P(0, 0, l).

[0070] See also Figure 3 , Figure 4 , Figure 3 The figure shows the schematic diagram of the world coordinate system and the initial coordinate system. Figure 4 Shown is a schematic diagram of the initial coordinate system and the transformed coordinate system.

[0071] As a preferred implementation, the step of calculating the position of the light intensity receiver at each corresponding acquisition moment in step S2 includes:

[0072] S21. Arrange multiple photodiodes evenly around the light intensity receiver, change the position of the light intensity receiver, keep the relative position of the photodiode and the light intensity receiver unchanged, and take the center P' of the changed light intensity receiver as the origin O'. The direction is the positive direction of the X' axis, and the angle between the plane where it is located and the Z axis of the world coordinate system is an acute angle. is the positive direction of Z' axis, Establish the initial coordinate system for the positive direction of the Y' axis;

[0073] S22, rotating the changed light intensity receiver around the X' axis according to the initial coordinate system to obtain a rotated coordinate system again;

[0074] S23, calculating the coordinates of the photodiode in the transformed coordinate system;

[0075] S24, calculating the coordinates of the photodiode in the initial coordinate system according to the coordinates of the photodiode in the transformed coordinate system;

[0076] S25, calculating the coordinates of the center P' of the light intensity receiver in the world coordinate system;

[0077] S26, calculating the positive direction vectors of the three coordinate axes of the initial coordinate system in the world coordinate system;

[0078] S27, calculating the coordinates of the photodiode in the world coordinate system according to the coordinates of the center P' of the light intensity receiver in the world coordinate system and the forward direction vectors of the three coordinate axes of the initial coordinate system in the world coordinate system;

[0079] S28. Obtain the position and posture of the light intensity receiver according to the coordinates of the photodiode in the world coordinate system.

[0080] Among them, after the center point P is determined, θ, r, Affects the position of the light intensity receiver.

[0081] As a preferred implementation, the formula for calculating the coordinates of the photodiode in the transformed coordinate system in step S23 is:

[0082]

[0083] Among them, (x i ,y i , z i )(i=1~4) represents the coordinates of the four photodiodes on the light intensity receiver whose distance from its center is D1, and (x0, y0, z0)=(0, 0, 0) represents the coordinates of the photodiode at the center of the light intensity receiver.

[0084] As a preferred implementation, the formula for calculating the coordinates of the photodiode in the initial coordinate system in step S24 is:

[0085]

[0086] Among them, (x1, y1, z1) represents the coordinates of a point of the light intensity receiver in the initial coordinate system, (x2, y2, z2) represents the coordinates of the point (x1, y1, z1) in the rotated coordinate system, and ω represents the angle of rotation of the initial coordinate system around its X' axis.

[0087] As a preferred implementation, the formula for calculating the coordinates of the center P' of the light intensity receiver in the world coordinate system in step S25 is:

[0088]

[0089]

[0090] Among them, l represents the Z-axis coordinate of P in the world coordinate system, r represents the distance from the center point P' of the light intensity receiver to the initial point P, and θ represents The angle with the negative half axis of the Z axis of the world coordinate system, represents the angle between the projection line of the line connecting the origin and point P' on the XOY plane and the positive direction of the X axis, k represents the distance from the origin to P', θ' represents the angle between the line connecting the origin and point P' and the positive direction of the Z axis, (x p′ ,y p′ , z p′ ) represents the coordinates of point P' in the world coordinate system.

[0091] As a preferred implementation, the calculation of the positive direction vectors of the three coordinate axes of the initial coordinate system in the world coordinate system in step S26 mainly includes the following steps:

[0092] Assume that the three direction vectors are Corresponding to the initial coordinate system of the light intensity receiver Direction, make a conic surface with P(0,0,l), taper π-θ, ​​and opening toward the positive direction of Z axis, then point P'(x p′ ,y p′ , z p′ ) on this cone, and the tangent plane of this cone at P' is the plane where the light intensity receiver is located, and the normal vector of the tangent plane (the one with an acute angle with the Z axis) is the normal vector of the light intensity receiver The surface equation of a cone can be expressed as follows:

[0093]

[0094] Let F(x, y, z) = λ(zl) 2 -x 2 -y 2 , then the cone is at P'(x p′ ,y p′ , z p′ ) is the normal vector of the tangent plane at Also because Then through the cross multiplication operation we can get Again The direction vector can be obtained by normalizing them separately

[0095] As a preferred implementation, the formula for calculating the coordinates of the photodiode in the world coordinate system in step S27 is:

[0096]

[0097]

[0098]

[0099]

[0100] in, are the three direction vectors corresponding to the three coordinate axes of the initial coordinate system in the world coordinate system. (x1, y1, z1) represents the coordinates of a point of the light intensity receiver in the initial coordinate system. (x p′ ,y p′ , z p′ ) represents the coordinates of P' in the world coordinate system, (x0, y ， z0) represents the coordinates of the point (x1, y1, z1) in the world coordinate system.

[0101] Example 2

[0102] Embodiment 2 of the present invention provides a light intensity posture automatic acquisition and labeling device, including a laser transmitter, a light intensity receiver and a photodiode group. A world coordinate system is established with the laser transmitter as the origin and the laser emission direction of the laser transmitter as the positive direction of the Z axis. The world coordinate system includes mutually perpendicular X-axis, Y-axis and Z-axis. The light intensity receiver is parallel to the plane where the X-axis and Y-axis of the world coordinate system are located, and the photodiode group is respectively connected to the light intensity receiver and the laser transmitter.

[0103] As a preferred embodiment, a photodiode is arranged at the center of the light intensity receiver. The position and posture of the light intensity receiver in the world coordinate system is determined by its initial position and other four parameters r (Euclidean distance between P' and P), θ (angle between the line connecting P' and P and the negative direction of the coordinate system Z axis), (the azimuth of P' in the world coordinate system) and ω (the angle of rotation of the light intensity receiver around the line connecting P' and P). When the initial position of the light intensity receiver is determined, we change one of the four parameters that determine the position of the light intensity receiver at every fixed time interval Δt. Therefore, we can use the timer to find out what posture the light intensity receiver is in at the current moment, and then calculate the PD coordinates through the corresponding coordinate system transformation, and correspond it to the collected light intensity data.

[0104] It is understood that the structure shown in the figure is only for illustration, and a method and device for light intensity acquisition and automatic pose labeling may also include more or fewer components than shown in the figure, or have a different configuration than shown in the figure. Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0105] In the embodiments provided in the present application, it should be understood that the disclosed device or method can also be implemented in other ways. The embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0106] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0107] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0108] To summarize, the embodiment of the present application provides a method and device for light intensity collection and automatic position and posture labeling. While recording the light intensity data collected by each photodiode (PD) on the light intensity collection device, the three-dimensional coordinates of the PD are obtained by converting the coordinate system to form a matching data pair of coordinates and light intensity. This is then applied through deep learning, and the light intensity data collected by the PD is input into a trained neural network model to predict the three-dimensional coordinates of the PD's location, thereby obtaining the position and posture of the light intensity collection device in real time.

[0109] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0110] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for automatically collecting and labeling light intensity and posture, characterized in that: The following steps are involved: S1, collecting and acquiring light intensity data and corresponding collection time through a light intensity receiver; S2. Calculate the position of the light intensity receiver at each corresponding acquisition time based on the light intensity data; S3, matching the position of the light intensity receiver at each corresponding acquisition moment with the light intensity data to form a matching database for the position; S4, deep learning based on the matching database to establish a neural network model; S5, inputting the light intensity data into the neural network model to obtain the position and posture of the light intensity in real time; The step of calculating the position of the light intensity receiver at each corresponding acquisition moment in step S2 includes: S21. Arrange multiple photodiodes evenly around the light intensity receiver, change the position of the light intensity receiver, keep the relative position of the photodiode and the light intensity receiver unchanged, and take the center P' of the changed light intensity receiver as the origin O'. The direction is the positive direction of the X' axis, and the angle between the plane where it is located and the Z axis of the world coordinate system is an acute angle. is the positive direction of Z' axis, Establish the initial coordinate system for the positive direction of the Y' axis; S22, rotating the changed light intensity receiver around the X' axis according to the initial coordinate system to obtain a rotated coordinate system again; S23, calculating the coordinates of the photodiode in the transformed coordinate system; S24, calculating the coordinates of the photodiode in the initial coordinate system according to the coordinates of the photodiode in the transformed coordinate system; S25, calculating the coordinates of the center P' of the light intensity receiver in the world coordinate system; S26, calculating the positive direction vectors of the three coordinate axes of the initial coordinate system in the world coordinate system; S27, calculating the coordinates of the photodiode in the world coordinate system according to the coordinates of the center P' of the light intensity receiver in the world coordinate system and the positive direction vectors of the three coordinate axes of the initial coordinate system in the world coordinate system; S28. Obtain the position of the light intensity receiver according to the coordinates of the photodiode in the world coordinate system.

2. The method for automatically collecting and labeling light intensity and posture according to claim 1, characterized in that: The step S1 comprises: S11, establish a world coordinate system with the laser source as the origin O and the laser emission direction as the positive direction of the Z axis, and at the same time set the midpoint P of the light intensity receiver to the positive Z semi-axis of the world coordinate system, and the plane where the light intensity receiver is located is parallel to the XOY plane of the world coordinate system; S12, setting a fixed collection time interval of the light intensity receiver to periodically obtain the light intensity data and corresponding collection time of the light intensity receiver moving on the Z axis.

3. The method for automatically collecting and labeling light intensity and posture according to claim 1, characterized in that: The formula for calculating the coordinates of the photodiode in the transformed coordinate system in step S23 is: ， in, , i=1~4 means the distance from the center of the light intensity receiver is The coordinates of the 4 photodiodes, The coordinates of the photodiode representing the center of the light intensity receiver.

4. The method for automatically collecting and labeling light intensity and posture according to claim 1, characterized in that: The formula for calculating the coordinates of the photodiode in the initial coordinate system in step S24 is: ， in, represents the coordinates of a point on the light intensity receiver in the initial coordinate system, Indicate point The coordinates in the transformed coordinate system are: Indicates the angle of rotation of the initial coordinate system around its X' axis.

5. The method for automatically collecting and labeling light intensity and posture according to claim 1, characterized in that: The formula for calculating the coordinates of the center P' of the light intensity receiver in the world coordinate system in step S25 is: ， in, represents the Z-axis coordinate of P in the world coordinate system, r represents the distance from the center point P' of the light intensity receiver to the initial point P, express The angle with the negative half axis of the Z axis of the world coordinate system, It represents the angle between the projection line of the line connecting the origin and P' on the XOY plane and the positive direction of the X axis. represents the distance from the origin to P', Represents the angle between the line connecting the origin and point P' and the positive direction of the Z axis, ( , , ) represents the coordinates of point P' in the world coordinate system.

6. The method for automatically collecting and labeling light intensity and posture according to claim 1, characterized in that: The formula for calculating the coordinates of the photodiode in the world coordinate system in step S27 is: ， ； in, are the three direction vectors corresponding to the three coordinate axes of the initial coordinate system in the world coordinate system, Representation vector The coordinates in the world coordinate system, Representation vector The coordinates in the world coordinate system, Representation vector The coordinates in the world coordinate system, represents the coordinates of a point on the light intensity receiver in the initial coordinate system, represents the coordinates of P' in the world coordinate system, Indicate point The corresponding coordinates in the world coordinate system.

7. A light intensity posture automatic acquisition and labeling device, applied to a light intensity posture automatic acquisition and labeling method as claimed in any one of claims 1 to 6, characterized in that: It includes a laser transmitter, a light intensity receiver and a photodiode group. A world coordinate system is established with the laser transmitter as the origin and the laser emission direction of the laser transmitter as the positive direction of the Z axis. The world coordinate system includes mutually perpendicular X-axis, Y-axis and Z-axis. The light intensity receiver is parallel to the plane where the X-axis and Y-axis of the world coordinate system are located. The photodiode group is respectively connected to the light intensity receiver and the laser transmitter.

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