Omni-directional photoelectric receiver for omni-directional reception measurement and pose measurement method thereof

Abstract

The application relates to an omnidirectional photoelectric receiver for omnidirectional receiving measurement and a pose measurement method thereof, the omnidirectional photoelectric receiver comprising a base (1) provided with a receiver base body (2), the receiver base body (2) comprising a mounting seat and a spherical body, eight photoelectric detector mounting holes being arranged on the upper and lower hemispheres of the spherical body, one photoelectric detector (3) being arranged in each photoelectric detector mounting hole, the photoelectric detectors (3) being horizontally staggered by 45 degrees between any two adjacent photoelectric detectors (3), the photoelectric detectors (3) on the upper hemisphere being horizontally staggered by 22.5 degrees with the photoelectric detectors (3) adjacent thereto on the lower hemisphere, and the included angle between each photoelectric detector (3) and the longitudinal section of the receiver base body (2) being 20 degrees. The application improves the receiving measurement range of laser signals and effectively solves the problem of light shielding in a complex space scene.

Description

Technical Field

[0001] This invention belongs to the field of indoor large-size space measurement and positioning technology, and relates to an omnidirectional photoelectric receiver for omnidirectional receiving measurement and its pose measurement method. Background Technology

[0002] In the production and assembly fields of aerospace, marine vessels, and other industries, Accurate Laser Positioning Systems (ALPS) have significant applications. ALPS offers high measurement accuracy and excellent scalability, enhancing my country's research and development capabilities in indoor high-precision, large-size measurement systems. It provides high-precision, high-reliability online measurement technology for the manufacturing and assembly of high-end large components in aircraft, rockets, and ships, offering strong technical support for intelligent manufacturing assembly.

[0003] However, currently, the performance of the photoelectric receiver, as the front-end optical signal receiving unit of ALPS, directly affects the measurement accuracy and use of the ALPS system. Existing planar and spherical receivers suffer from problems such as limited laser receiving angle and easy obstruction in complex large-space measurement scenarios. Furthermore, in the process of achieving high-precision navigation and positioning using indoor photoelectric scanning measurement technology, it is necessary to receive laser scanning light signals from multiple base stations with full-view perspectives.

[0004] Given the aforementioned technical deficiencies of existing technologies, there is an urgent need to develop an omnidirectional spatial measurement and positioning technology for complex application scenarios. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides an omnidirectional photoelectric receiver for omnidirectional reception measurement and its pose measurement method, which improves the reception and measurement range of laser signals and effectively solves the problem of light occlusion in complex spatial scenes.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An omnidirectional photoelectric receiver for omnidirectional receiving measurement includes a base on which a receiver base is provided. The receiver base includes a mounting seat and a sphere located on the mounting seat. The upper and lower hemispheres of the sphere are provided with eight photoelectric detector mounting holes. Each photoelectric detector mounting hole is equipped with a photoelectric detector. Any two adjacent photoelectric detectors on the upper hemisphere are horizontally staggered by 45°, and any two adjacent photoelectric detectors on the lower hemisphere are also horizontally staggered by 45°. Furthermore, the photoelectric detectors on the upper hemisphere and their adjacent photoelectric detectors on the lower hemisphere are horizontally staggered by 22.5°. At the same time, the angle between each photoelectric detector and the longitudinal section of the receiver base is 20°.

[0008] Preferably, the diameter of the sphere of the receiver substrate is 70mm, and the photodetector is trapezoidal with dimensions of 21.24mm × 15.85mm × 19mm, that is, the two bottom sides are 21.24mm and 15.85mm respectively, and the height is 19mm.

[0009] Preferably, the upper end of the upper hemisphere of the sphere has a cylindrical groove of 40.7mm×2mm, in which a target ball base is installed and a target ball is provided on the target ball base.

[0010] Preferably, the base is disc-shaped with a diameter of 64 mm and a thickness of 5 mm.

[0011] Furthermore, the present invention also provides a pose measurement method for the omnidirectional photoelectric receiver described above for omnidirectional receiving measurement, characterized by comprising the following steps:

[0012] 1) Establish a mathematical model for the position measurement of the omnidirectional photoelectric receiver and solve for the position coordinates of each receiving node;

[0013] 2) Establish a mathematical model for attitude measurement of the omnidirectional photoelectric receiver and solve for the attitude of the omnidirectional photoelectric receiver.

[0014] Preferably, step 1) specifically includes:

[0015] 1.1) Multiple transmitting base stations are distributed in the measurement field, and each transmitting base station has 2 laser planes;

[0016] 1.2) Establish the mathematical model for position measurement of the omnidirectional photoelectric receiver as follows:

[0017]

[0018] In the formula, K 1s and K2s Represents the laser plane equation; (A) M1s B M1s C M1s ), (A M2s B M2s C M2s ) represents the laser plane parameters; (X) s ,Y s Z s ) represents the spatial coordinates of the receiving node; s,x represents the node number; D sx G represents the distance parameter value between receiving nodes s and x; s G x The coordinates are the three-dimensional coordinates of the receiving nodes distributed on the omnidirectional photoelectric receiver;

[0019] 1.3) A nonlinear optimization algorithm is used to solve the mathematical model for position measurement of the omnidirectional photoelectric receiver, given the objective optimization function T. min When the objective function becomes very small, the optimal solution to the system of equations can be obtained, which is the position coordinates of each receiving node.

[0020]

[0021] n is the number of receiving nodes.

[0022] Preferably, step 2) specifically includes:

[0023] 2.1) The transformation relationship between the receiver coordinate system and the world coordinate system is determined as follows:

[0024]

[0025] In the formula, This represents the rotation matrix relationship between the receiver coordinate system and the world coordinate system. This represents the translation matrix relationship between the receiver coordinate system and the world coordinate system, x′. si y′ si , z′ si x′ represents the pose coordinates in the receiver coordinate system. gi y′ gi , z′ gi Represents the pose coordinates in the world coordinate system;

[0026] 2.2) Establish the following objective function, and solve... Transform it into solving a nonlinear optimization problem.

[0027] 2.3) Let the initial attitude of the omnidirectional photodetector be ζ0, and the arbitrarily changed attitude be ζ. j Through the obtained Calculate the attitude ζ in the receiver coordinate system j The coordinates at the initial attitude ζ0 can be expressed by the mathematical transformation formula as follows:

[0028]

[0029] Solve The attitudes ζ0 and ζ can then be obtained. j The transformation relationship between them.

[0030] Preferably, solve When the sampling quaternion method is used to solve the problem.

[0031] Compared with the prior art, the omnidirectional photoelectric receiver and its pose measurement method for omnidirectional reception measurement of the present invention have one or more of the following beneficial technical effects:

[0032] 1. Compared with the planar and spherical receivers in the existing technology, which have a small incident angle range, high operation difficulty, and high risk of light loss, this invention adopts a novel omnidirectional measurement method and device, which improves the receiving and measurement range of laser signals and solves the problem of light occlusion in complex spatial scenes.

[0033] 2. Based on the principle of indoor global laser scanning measurement system, this invention proposes an omnidirectional spatial positioning method with circumferential binding constraints, which weakens the complex on-site weak intersection constraints. Attached Figure Description

[0034] Figure 1 The omnidirectional node position measurement model of the present invention is shown.

[0035] Figure 2 The omnidirectional attitude measurement model of the present invention is shown.

[0036] Figure 3 A structural diagram of the omnidirectional photodetector for omnidirectional receiving measurement according to the present invention is shown. Detailed Implementation

[0037] The present invention will be further described below with reference to embodiments. The content of the embodiments is not intended to limit the scope of protection of the present invention.

[0038] To address the problems of small incident angle range, high operational difficulty, and high risk of light loss in existing planar and spherical receivers, this invention provides an omnidirectional photoelectric receiver and its pose measurement method for omnidirectional reception measurement. This improves the reception and measurement range of laser signals and effectively solves the problem of light occlusion in complex spatial scenes.

[0039] Before introducing the omnidirectional photoelectric receiver for omnidirectional reception measurement and its pose measurement method of the present invention, the measurement principle of the present invention will be introduced first.

[0040] First, a multi-base station measurement and positioning model is established using the ALPS measurement principle.

[0041] In this invention, a multi-base station measurement and positioning model is established. M base stations (two or more) are used as the measurement units and placed in the measurement field. The photoelectric sensor is placed at the spatial point P to be measured. When the two laser fan surfaces of each base station scan the photoelectric receiver, a straight line through the spatial point P can be obtained. The two base stations can determine the three-dimensional coordinates of P. M base stations can not only improve the measurement accuracy, but also expand the measurement range of the entire measurement system.

[0042] Secondly, a mathematical model for position measurement of the omnidirectional photoelectric receiver was established.

[0043] In this invention, establishing a mathematical model for the position measurement of an omnidirectional photoelectric receiver specifically includes the following steps:

[0044] 1. If M transmitting base stations are distributed in the measurement field, then there are a total of 2M laser plane equations.

[0045] 2. The omnidirectional photoelectric receiver is placed in the measurement field, and a total of J receiving nodes are arranged around the designed omnidirectional photoelectric receiver. The number of transmitting base stations that the omnidirectional photoelectric receiver nodes receive signals from is discussed separately. It is assumed that O1 photoelectric receiving nodes can receive signals from more than 2 transmitting base stations, O2 photoelectric receiving nodes can only receive signals from one transmitting base station, and the remaining O3 photoelectric receiving nodes cannot receive signals from any transmitting base station.

[0046] Establish an omnidirectional node position measurement model, such as Figure 1 As shown, where G w G represents the receiving nodes distributed on an omnidirectional photoelectric receiver. q As the common test point on the omnidirectional optoelectronic receiver, based on the mathematical model of multiple transmitting base stations and combined with the structural parameters D of the omnidirectional optoelectronic receiver. sx A mathematical model can be established:

[0047]

[0048] In the formula:

[0049] K 1s and K 2s Represents the laser plane equation;

[0050] (A M1s B M1s C M1s ), (A M2s B M2s C M2s () represents the laser plane parameters;

[0051] (X s ,Y s Z s () represents the spatial coordinates of the receiving node;

[0052] s, x represent the numbers of the receiving nodes;

[0053] D sx This represents the distance parameter value between receiving nodes s and x;

[0054] G s G x G represents the three-dimensional coordinates of the receiving nodes in the omnidirectional measurement model distribution. s =(X s ,Y s Z s ), G x =(X x Y x Z x ).

[0055] The coordinates of the point to be measured in space contain three unknowns. According to the system's measurement principle, when 2M > 3, the coordinates of the receiver space can be obtained. Analysis of formula (1) reveals a total of 2J laser plane equations. The distance parameter equation requires at least three receiving nodes to solve for the target location, resulting in 3J unknowns. Therefore, when J≥3, the coordinates of each receiving node distributed on the omnidirectional photoelectric receiver can be obtained. Formula (1) contains multiple nonlinear equations and usually employs a redundant design to ensure that the number of receiving nodes is more than three.

[0056] 3. Solve the problem using a nonlinear optimization algorithm, given the objective optimization function T. min When the objective function approaches a very small value, the optimal solution to the system of equations can be obtained, which is the coordinates of each node:

[0057]

[0058] In the formula, n is the number of receiving nodes, which must be greater than or equal to 3.

[0059] This invention uses the LM optimization algorithm to solve the objective function T. min The optimal solution, and its iterative initial value classification explanation:

[0060] (1) When the j0 receiving nodes installed on the omnidirectional photoelectric receiver can only receive the optical signal of one transmitting base station, the initial value of the iteration can be obtained by dividing the j0 nodes into groups of 3 and solving them by substituting them into formula (2).

[0061] (2) When j0 receiving nodes installed on the omnidirectional photoelectric receiver can receive optical signals from one transmitting base station, and j1 receiving nodes can receive optical signals from two or more base stations, the coordinates of j1 receiving nodes are directly calculated using the ALPS intersection measurement system.

[0062] One transmitter can determine a straight line in space passing through the point P to be measured, and two base stations can determine the three-dimensional coordinates of P.

[0063] Group the j0 receiving nodes into groups of three and substitute them into formula (2) for calculation.

[0064] The omnidirectional measurement model contains a "virtual" common measurement point G. q By following the above solution approach, the spatial coordinates of each node on the omnidirectional photoelectric receiver in the global coordinate system are obtained. Then, the spatial coordinates of each receiving node G are calculated. w and common test point G q The structural distance parameter value between them can be used to obtain G. q Spatial coordinates.

[0065]

[0066] In the formula:

[0067] (x q ,y q ,z q ) represents the three-dimensional coordinates of the common point to be measured in the global coordinate system, (q = 1, 2, 3…n);

[0068] (x w ,y w ,z w () represents the three-dimensional coordinates of each receiving node in the global coordinate system;

[0069] D wq This refers to the structural distance parameter values ​​between the common test point and each receiving node.

[0070] Finally, a mathematical model for attitude measurement of the omnidirectional photoelectric receiver was established.

[0071] When achieving three-dimensional attitude measurement of the target, this is represented by acquiring the transformation relationship of the omnidirectional photoelectric receiver under different attitudes, and establishing an omnidirectional receiver attitude measurement model, such as... Figure 2 As shown. Establish the receiver coordinate system O'. s -X' s Y' s Z' s The global coordinate system O' under the unified measurement field of ALPS g -X' g Y' g Z' gThe receiver coordinate system is established with the center of the top surface circle as the origin O'. s The receiving nodes are numbered sequentially from 1 to 8, with the origin O' s The line connecting node 1 is defined as the X-axis direction, with the origin O' s Node 3 is defined as the Y-axis direction, and the Z-axis direction is perpendicular to the origin and upwards.

[0072] Coordinate system O' s -X' s Y' s Z' s Compared to O' g -X' g Y' g Z' g The pose relationship between them can be represented as:

[0073]

[0074] Where (α'0,β'0,γ'0) represents the three Euler angles, indicating the rotation matrix relationship between the receiver coordinate system and the global coordinate system. (σ,τ,ψ) represents the translation matrix relationship between the two coordinate systems. Therefore, the above coordinate transformation relationship can be expressed as:

[0075]

[0076] x′ si y′ si , z′ si The coordinates in the receiver coordinate system are represented by x′. gi y′ gi , z′ gi Represents the coordinates in the global coordinate system.

[0077] Rotation matrix Translation matrix There are six unknowns. Solving for these unknowns requires establishing more equations than the number of unknowns. Therefore, when solving for the pose parameters, at least three receiver node coordinates must be known in both coordinate systems. Based on the above principle, the receiver node coordinates in the required transformation relationship can be obtained, and the solution... Converting this to a nonlinear optimization problem, the objective function is established as follows:

[0078]

[0079] For an omnidirectional photodetector that continuously and arbitrarily changes its measurement attitude in the measurement field, let the initial attitude of the omnidirectional photodetector be ζ0, and the attitude after the arbitrary change be ζ. j Through the obtained Calculate the attitude ζ in the receiver coordinate systemj At the initial attitude ζ0 coordinates, the mathematical transformation relationship can be expressed as:

[0080]

[0081] Regarding the above The quaternion method is used to obtain the attitude ζ0 and ζ. j The transformation relationship between them.

[0082] in, This represents the transformation relationship between different postures. This represents the transformation relationship of the same point in different coordinate systems.

[0083] Among them, the quaternion method, as a method for describing the rotation information of a target in three-dimensional space, can be used to solve the transformation relationship between different coordinate systems. Because the quaternion method has small storage space, no singularities, and can describe the attitude transformation of space in real time and accurately, it is used to solve the transformation matrix. Since the quaternion method is existing technology, it will not be described in detail here for simplicity.

[0084] Based on the above principles, the omnidirectional photoelectric receiver for omnidirectional receiving measurement of the present invention can be structurally designed.

[0085] like Figure 3 As shown, the omnidirectional photoelectric receiver structure of the present invention adopts a "spherical" circumferentially symmetrical structure design. The layout scheme is composed of octahedrons staggered at 45° central angles. The number of detection and receiving nodes installed and distributed circumferentially is 16. The overall structure mainly consists of a base 1, a receiver base 2, a photoelectric detector 3, a target ball base 4, and a target ball 5.

[0086] Specifically, the omnidirectional photoelectric receiver of the present invention includes a base 1. In order to facilitate the centralized management of the hardware circuit lines of multiple receiving nodes, the base 1 has a position for installing a hardware circuit adapter board. The entire base 1 is disc-shaped, with a diameter of 64mm and a thickness of 5mm.

[0087] The base 1 is provided with a receiver base 2. The receiver base 2 includes a mounting base and a ball located on the mounting base. The mounting base is mounted on the base 1.

[0088] Preferably, the mounting base has an aviation plug hole with a diameter of 12mm to facilitate the routing of electrical cables.

[0089] The upper and lower hemispheres of the sphere are each provided with eight photodetector mounting holes. Each photodetector mounting hole contains one photodetector 3.

[0090] In this configuration, any two adjacent photodetectors 3 on the upper hemisphere are horizontally staggered by 45°, and any two adjacent photodetectors 3 on the lower hemisphere are also horizontally staggered by 45°. In other words, if the sphere is cut through a plane passing through the center point of the eight photodetectors 3 on either the upper or lower hemisphere, the angle between the lines connecting the center points of any two adjacent photodetectors 3 and the center of the cutting plane is 45°.

[0091] Furthermore, the photodetector 3 on the upper hemisphere and its adjacent photodetector 3 on the lower hemisphere are horizontally staggered by 22.5°. In other words, the photodetector 3 on the upper hemisphere and its adjacent photodetector 3 on the lower hemisphere are uniformly staggered.

[0092] Meanwhile, the angle between each photodetector 3 and the longitudinal section of the receiver substrate 2 is 20°. In other words, when the sphere is longitudinally cut along its center, the angle between each photodetector 3 and the longitudinal section plane is 20°.

[0093] Since the omnidirectional photodetector needs to pre-calibrate the distance structural parameters between each node when calculating the global coordinates of each receiving node, the installation position of the photodetector 3 is designed to ensure the reliability of its structure and eliminate measurement errors caused by external deformation factors. At the same time, in order to facilitate the subsequent calibration of the structural parameters of the omnidirectional photodetector, a groove is reserved on the top for installing the target ball base to place the ALPS target ball. The global coordinates of this position can be directly measured and obtained, and its coordinate point is the only "virtual" common point in the omnidirectional receiver measurement model.

[0094] The 3D structural model was designed using Solidworks 2018 software. The entire omnidirectional photodetector's base design adopts a 16-sided configuration, with two sets of octahedrons horizontally staggered at 45° circumferentially joined at the top and bottom, ensuring that there are 5 effective receiving surfaces in the front projection direction of the receiver model. This design allows for complementary angular coverage of the installed photovoltaic cells. For conventional single-node photovoltaic cells, the receiving angle is typically 120°. In the longitudinal structural angle design, each receiving surface is installed at a 20° tilt, expanding the longitudinal receiving angle coverage.

[0095] The substrate structure adopts a small and lightweight design to ensure simple and convenient installation and preparation. The main body dimensions of the entire receiver are 70mm×70mm×70mm, that is, the diameter of the sphere is 70mm. The photodetector has a trapezoidal interface with dimensions of 21.24mm×15.85mm×19mm, and a cylindrical groove with a diameter of 40.7mm and a depth of 2mm at the upper end for placing the target sphere base 4.

[0096] The above embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the implementation of the present invention. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is impossible to exhaustively list all possible implementations here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A method for measuring the pose of an omnidirectional photoelectric receiver for omnidirectional receiving measurements, characterized in that, The omnidirectional photoelectric receiver includes a base (1), on which a receiver base (2) is provided. The receiver base (2) includes a mounting seat and a sphere located on the mounting seat. The upper and lower hemispheres of the sphere are provided with eight photoelectric detector mounting holes. Each photoelectric detector mounting hole is equipped with a photoelectric detector (3). Any two adjacent photoelectric detectors (3) on the upper hemisphere are horizontally staggered by 45°, and any two adjacent photoelectric detectors (3) on the lower hemisphere are also horizontally staggered by 45°. Furthermore, the photoelectric detectors (3) on the upper hemisphere and their adjacent photoelectric detectors (3) on the lower hemisphere are horizontally staggered by 22.5°. At the same time, the angle between each photoelectric detector (3) and the longitudinal section of the receiver base (2) is 20°. The method includes the following steps: 1) Establish a mathematical model for the position measurement of the omnidirectional photoelectric receiver and solve for the position coordinates of each receiving node; 2) Establish a mathematical model for attitude measurement of the omnidirectional photoelectric receiver and solve for the attitude of the omnidirectional photoelectric receiver; Specifically, step 1) includes: 1.1) Multiple transmitting base stations are distributed in the measurement field, and each transmitting base station has 2 laser planes; 1.2) Establish the mathematical model for position measurement of the omnidirectional photoelectric receiver as follows: ， In the formula, K 1s and K 2s Represents the laser plane equation; , For laser plane parameters; The spatial coordinates of the receiving node; This is the number of the receiving node; For receiving nodes Distance parameter values ​​between; The coordinates are the three-dimensional coordinates of the receiving nodes distributed on the omnidirectional photoelectric receiver; 1.3) A nonlinear optimization algorithm is used to solve the mathematical model for position measurement of the omnidirectional photoelectric receiver, given the objective optimization function. When the objective function becomes very small, the optimal solution to the system of equations can be obtained, which is the position coordinates of each receiving node. n is the number of receiving nodes; Step 2) specifically includes: 2.1) The transformation relationship between the receiver coordinate system and the world coordinate system is determined as follows: In the formula, This represents the rotation matrix relationship between the receiver coordinate system and the world coordinate system. This represents the translation matrix relationship between the receiver coordinate system and the world coordinate system. This represents the pose coordinates in the receiver coordinate system. Represents the pose coordinates in the world coordinate system; 2.2) Establish the following objective function, and solve... Transform it into solving a nonlinear optimization problem. 2.3) Let the initial attitude of the omnidirectional photodetector be . The posture after arbitrary changes is Through the obtained Calculate the attitude in the receiver coordinate system In the initial posture The coordinates at time are then expressed by the mathematical transformation formula as follows: Solve The posture can then be obtained. and The transformation relationship between them.

2. The pose measurement method for an omnidirectional photoelectric receiver for omnidirectional receiving measurement according to claim 1, characterized in that, The diameter of the sphere of the receiver base (2) is 70mm, and the photodetector (3) is trapezoidal with dimensions of 21.24mm×15.85mm×19mm, that is, the two bottom sides are 21.24mm and 15.85mm respectively, and the height is 19mm.

3. The pose measurement method for an omnidirectional photoelectric receiver for omnidirectional receiving measurement according to claim 2, characterized in that, The upper end of the upper hemisphere of the sphere has a cylindrical groove of 40.7mm×2mm, and a target ball base (4) is installed in the cylindrical groove and a target ball (5) is provided on the target ball base (4).

4. The omnidirectional photoelectric receiver for omnidirectional receiving measurement according to claim 3, characterized in that, The base (1) is disc-shaped with a diameter of 64 mm and a thickness of 5 mm.

5. The pose measurement method for an omnidirectional photoelectric receiver for omnidirectional receiving measurement according to claim 1, characterized in that, Solve When the problem is solved, the quaternion method is used.

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