Space laser information perception and positioning device and laser emission device calibration method

Abstract

The present invention provides a spatial laser information sensing and positioning device and a laser emitting device calibration method. The spatial laser information sensing and positioning device includes: a photoelectric detection sensor, which is used to receive the laser to be measured through a photosensitive area and detect and obtain the nominal coordinate information of the laser incident point to be measured; a plurality of magnetic target seats, which are arranged on the outer shell surface of the photoelectric detection sensor, and each magnetic target seat is used to adapt to a standard laser target ball and then cooperate with a standard detection device to provide reference coordinate information; by calibrating the relative position relationship between the magnetic target seat and the photosensitive area of ​​the photoelectric detection sensor, and based on the reference coordinate information, the nominal coordinate information is converted into calibration field coordinate information in the coordinate system of the standard detection equipment, finally realizing the sensing and positioning of the laser incident point to be measured in space.

Description

Technical Field

[0001] The present invention relates to the technical field of laser instrument calibration, and in particular to a space laser information sensing and positioning device and a laser emitting device calibration method. Background Art

[0002] With the rapid development of modern industry and science and technology, high-precision measurement technology plays a vital role in aerospace, precision manufacturing, construction engineering, and automation. Among them, laser measurement technology has become an important tool in the current measurement field due to its high precision, non-contact, and long-distance measurement capabilities. For example, laser trackers, as a typical representative of laser measurement technology, are widely used in scenarios such as precision measurement of large-scale workpieces, equipment installation and calibration, and robot trajectory tracking. However, the measurement accuracy and reliability of laser trackers largely depend on their own calibration and calibration. Traditional laser tracker calibration methods usually require complex experimental environments, sophisticated auxiliary equipment, and cumbersome operating procedures, and the calibration accuracy is easily affected by environmental factors.

[0003] In order to further improve the calibration efficiency and accuracy of laser instruments, an efficient, convenient and high-precision calibration device and calibration method are urgently needed. Summary of the Invention

[0004] In view of this, in order to at least partially solve at least one of the above-mentioned technical problems, the present invention provides a spatial laser information sensing and positioning device and a laser emitting device calibration method.

[0005] In order to achieve the above object, the technical solution of the present invention is as follows:

[0006] According to an embodiment of one aspect of the present invention, a spatial laser information perception and positioning device is provided, including a photoelectric detection sensor and a plurality of magnetic target mounts, wherein the photoelectric detection sensor is used to receive the laser to be measured through a photosensitive area and detect and obtain the nominal coordinate information of the laser incident point to be measured; the plurality of magnetic target mounts are arranged on the outer shell surface of the photoelectric detection sensor, and each magnetic target mount is used to adapt to a standard laser target sphere and cooperate with a standard detection equipment to provide reference coordinate information; wherein, by calibrating the relative position relationship between the magnetic target mount and the photosensitive area of ​​the photoelectric detection sensor, and based on the reference coordinate information, the nominal coordinate information is converted to the calibration field coordinate information under the coordinate system of the standard detection equipment, finally the perception and positioning of the laser incident point to be measured is achieved.

[0007] According to an embodiment of the present invention, the spatial laser information perception and positioning device also includes a photoelectric signal conversion board, which is used to receive the current signal generated by the photoelectric detection sensor under the action of the laser to be measured, and obtain the nominal coordinate information of the incident point of the laser to be measured based on the current signal of the photoelectric detection sensor.

[0008] According to an embodiment of the present invention, the number of magnetic target holders is 3-10, preferably 6.

[0009] According to an embodiment of the present invention, the position of a magnetic target base equipped with a standard laser target sphere is detected by a standard detection device, and the reference coordinate information obtained by the detection is used as reference information for spatial coordinate conversion.

[0010] According to an embodiment of the present invention, the positions of the photosensitive area of ​​the photoelectric detection sensor and the magnetic target are detected by an imager to determine the relative positional relationship between the photosensitive area and the magnetic target.

[0011] According to an embodiment of the present invention, the photosensitive area of ​​the photoelectric detection sensor is measured by the non-contact image measurement function of the imager to obtain information of the photoelectric detection sensor coordinate system; the magnetic target base of the photoelectric detection sensor is measured by the contact probe measurement function of the imager to obtain the coordinate information of the magnetic target base in the photoelectric detection sensor coordinate system, thereby obtaining the relative position relationship between the photoelectric detection sensor and the magnetic target base.

[0012] According to an embodiment of the present invention, the type of the photoelectric detection sensor is selected from a position sensitive detector or a four-quadrant detector; the standard detection equipment is a laser tracker or a three-coordinate measuring machine.

[0013] According to an embodiment of the present invention, the magnetic target seat and the photosensitive area of ​​the photoelectric detection sensor are arranged on the same surface of the outer shell or on different surfaces of the outer shell.

[0014] According to an embodiment of the present invention, the laser emitting device is any one of a laser tracker, a laser theodolite or a laser radar.

[0015] According to an embodiment of another aspect of the present invention, a laser emitting device calibration method based on the above-mentioned space laser information sensing and positioning device is provided, and the laser emitting device calibration method includes: building a calibration field based on the space laser information sensing and positioning device and standard detection equipment; receiving the laser emitted by the laser emitting device to be calibrated through the photosensitive area of ​​the photoelectric detection sensor and detecting to obtain the nominal coordinate information of the laser incident point; after the magnetic target seat on the outer shell surface of the photoelectric detection sensor is adapted to the standard laser target ball, the position information of the magnetic target seat is obtained in cooperation with the standard detection equipment as reference coordinate information; calibrating the relative position relationship between the magnetic target seat and the photosensitive area of ​​the photoelectric detection sensor; and converting the nominal coordinate information to the calibration field coordinate information under the coordinate system of the standard detection equipment based on the reference coordinate information, and finally realizing the calibration of the laser emitting device to be calibrated. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0017] Figure 1 Schematic diagram of the structure of a spatial laser information sensing and positioning device according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of calibrating a laser emitting device based on a spatial laser information sensing and positioning device and a standard detection device according to an embodiment of the present invention.

[0019] Figure 3 Schematic diagram of the laser emitting device calibration method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention provides a space laser information sensing and positioning device and a laser emitting device calibration method, and the laser emitting device is calibrated based on the laser information sensing and positioning device.

[0021] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0022] Figure 1 Schematic diagram of the structure of the spatial laser information perception and positioning device according to an embodiment of the present invention, wherein: Figure 1 Part (A) is a schematic diagram of the external structure of the space laser information perception and positioning device. Figure 1 Part (B) is a schematic diagram of the internal structure of the space laser information perception and positioning device. Figure 2 This is a schematic diagram of calibrating a laser emitting device based on a spatial laser information sensing and positioning device and a standard detection device according to an embodiment of the present invention.

[0023] In the embodiment of the present invention, combined with Figure 1 and Figure 2 As shown, a spatial laser information sensing and positioning device is provided, comprising:

[0024] The photoelectric detection sensor 10 is used to receive the laser to be measured through its photosensitive area 11 and detect and obtain the nominal coordinate information of the incident point of the laser to be measured.

[0025] A plurality of magnetic target bases 20 are arranged on the outer shell surface of the photoelectric detection sensor. Each magnetic target base 20 can be used to adapt to a standard laser target sphere 30 and cooperate with standard detection equipment to provide reference coordinate information.

[0026] Among them, by calibrating the relative position relationship between the magnetic target 20 and the photosensitive area 11 of the photoelectric detection sensor, and based on the reference coordinate information, the nominal coordinate information is converted to the calibration field coordinate information under the standard detection equipment coordinate system, and finally the perception and positioning of the laser incident point to be measured in space is realized.

[0027] According to an embodiment of the present invention, Figure 2 As shown, the laser emitting device 80 can be any of a laser tracker, a laser theodolite, or a laser radar. The laser emitting device 80 emits a laser beam 81 to be measured, which illuminates the photosensitive area 11 of the photoelectric detection sensor 10. The standard detection equipment 90 is, for example, a laser tracker or a coordinate measuring machine. The standard detection equipment 90 detects the position of the magnetic target base 20 equipped with the standard laser target sphere 30. The reference coordinate information obtained from the detection is used as reference information for spatial coordinate transformation. The standard detection equipment 90 is calibrated by an authoritative calibration agency and can ensure the accuracy, reliability, and traceability of the measurement results.

[0028] The spatial laser information sensing and positioning device also includes a photoelectric signal conversion board 50, which is used to receive the current signal generated by the photoelectric detection sensor under the influence of the laser to be measured. Based on the current signal of the photoelectric detection sensor, the nominal coordinate information of the incident point of the laser to be measured can be obtained. The nominal coordinate information is two-dimensional coordinate information. The spatial laser information sensing and positioning device also includes multiple functional interfaces, such as a power interface 60 and a data interface 70.

[0029] Figure 3 Schematic diagram of the laser emitting device calibration method according to an embodiment of the present invention.

[0030] According to another embodiment of the present invention, a laser emitting device calibration method based on the above spatial laser information perception and positioning device is also provided, combined with Figure 3 and Figure 2 As shown, the calibration method includes the following operations:

[0031] Operation S1: Building a calibration field based on the spatial laser information sensing and positioning device and the standard detection equipment 90.

[0032] Operation S2: receiving the laser beam 81 to be measured emitted by the laser emitting device 80 to be calibrated through the light-sensitive area 11 of the photoelectric detection sensor 10 and detecting and obtaining the nominal coordinate information of the laser incident point.

[0033] Operation S3: After the plurality of magnetic target seats 20 on the outer shell surface of the photoelectric detection sensor 10 are adapted to the standard laser target sphere 30 , the position information of the magnetic target seats is obtained as reference coordinate information in cooperation with the standard detection equipment 90 .

[0034] Operation S4: calibrating the relative position relationship between the magnetic target base 20 and the photosensitive area 11 of the photoelectric detection sensor 10.

[0035] Operation S5: converting the nominal coordinate information to calibration field coordinate information in the coordinate system of the standard detection device 90 based on the reference coordinate information, thereby finally achieving calibration of the laser emitting device 80 to be calibrated.

[0036] According to an embodiment of the present invention, the photodetection sensor 10 is a position-sensitive detector (PSD) or a four-quadrant detector. A PSD is preferably used. This photoelectric sensor is designed based on the lateral photoelectric effect, also known as a coordinate photocell. The lateral photoelectric effect, also known as the lateral photovoltaic effect, involves the absorption of incident photon energy by the illuminated portion of a semiconductor material, generating electron-hole pairs. The carrier concentration in this portion is higher than in the unilluminated portion, resulting in a carrier concentration gradient and carrier diffusion. The PSD is designed as a pin-shaped PIN structure, comprising a highly doped P layer, a high-resistance intrinsic I layer, and a lightly doped N layer. When light is incident on the active photosensitive surface of the PSD, carriers in the P layer diffuse toward the two electrodes due to the lateral photoelectric effect, generating current. The ratio of the current flowing to the electrodes corresponds to the coordinates of the incident light's location. The output current is collected at the two electrodes, and the coordinates of the incident point are calculated based on the current values.

[0037] According to an embodiment of the present invention, an imager is used to detect the positions of the photosensitive area 11 of the photodetection sensor 10 and the magnetic target base 20 to determine their relative positional relationship. Specifically, the imager's non-contact image measurement function measures the photosensitive area of ​​the photodetection sensor to obtain information about the photodetection sensor's coordinate system. The imager's contact probe measurement function measures the magnetic target base of the photodetection sensor to obtain coordinate information about the magnetic target base in the photodetection sensor's coordinate system, thereby determining the relative positional relationship between the photodetection sensor and the magnetic target base. The imager, which possesses both contact probe and non-contact image measurement capabilities, has a measurement range of 300 mm × 200 mm × 150 mm and a measurement accuracy of 2.4 + 4L / 1000µm (L represents the measurement distance in mm). During measurement, the spatial laser information sensing and positioning device is fixed to the imager's two-dimensional displacement platform. The photosensitive plane of the position-sensitive detector resides in a two-dimensional coordinate system with its center as the origin and the x and y axes as the geometric symmetry lines of the photosensitive plane. Based on this, the z-axis, perpendicular to the photosensitive plane, can be used to establish a three-dimensional coordinate system for the position-sensitive detector (POSD). In a space laser sensing and positioning system, the relative position of the magnetic target base and the photoelectric detection sensor is fixed, so the spatial position relationship parameters between the magnetic target base and the photoelectric detection sensor can be pre-calibrated. Calibration of the magnetic target base's coordinates in the photoelectric detection sensor coordinate system can be accomplished using an imager. First, the PSD sensor coordinate system is established using the imager's non-contact image measurement function. The position of the magnetic target base is then measured using the imager's contact probe measurement function. During measurement, a standard reflective laser target sphere or a standard target sphere of the same specification is placed on the magnetic target base. The imager probe performs contact measurement sampling on the target sphere's surface within the magnetic target base, and the sphere center coordinates are fitted based on the sampled point information. The target sphere center coordinates are then equated to the coordinates of each magnetic target base. Combined with the previously constructed PSD coordinate system, the coordinates of the magnetic target base in the imager coordinate system can be further converted to the PSD sensor coordinate system.

[0038] According to an embodiment of the present invention, the type of the photoelectric detection sensor is selected from a position sensitive detector or a four-quadrant detector. The photoelectric detection sensor used is also a standard photoelectric detection sensor calibrated by an authoritative calibration agency.

[0039] According to an embodiment of the present invention, the number of magnetic target holders is 3-10, and the magnetic target holders and the photosensitive areas of the photoelectric detection sensors are arranged on the same surface of the outer shell or on different surfaces of the outer shell. Preferably, 6 magnetic target holders are arranged, such as Figure 1As shown, four magnetic target holders 20 are arranged on the same outer shell surface as the photoelectric detection sensor 10, and two magnetic target holders 20 are arranged on the upper surface of the shell. According to actual application requirements, more magnetic target holders can be arranged on the side or back of the shell. When calibrating the laser emitting device, the number of adapted standard laser target balls is selected according to actual conditions. For example, 1-6 standard laser target balls can be selected.

[0040] According to an embodiment of the present invention, a laser emitting device is a two-axis rotation mode laser emitting device. When establishing a calibration field based on a spatial laser information sensing and positioning device and standard detection equipment, the minimum number of spatial laser information sensing and positioning devices should be six, considering the parameters of the laser emitting device to be calibrated (e.g., vertical rotation axis parameters, horizontal rotation axis parameters, and laser sight axis parameters). Multiple spatial laser information sensing and positioning devices are arranged at a set distance within the calibration control field, and the relative position relationship of each photoelectric detection sensor is pre-calibrated using a reference instrument. The laser emitted by the laser emitting device to be calibrated is sequentially directed to multiple spatial laser information sensing and positioning devices to obtain the nominal coordinate information of each pointing point (i.e., the corresponding laser incident point to be measured). This also involves obtaining the basic transfer function of the axis system error of the two-axis rotation mode laser emitting device to be calibrated, combining the nominal coordinate information of the incident point with the reference coordinate information to establish a linear equation system for axis system error identification, and solving the equation system error to obtain the axis system error for more accurate calibration.

[0041] The spatial laser information perception and positioning device and laser emission device calibration method based on photoelectric detection technology proposed in the present invention overcome the difficulties encountered in the prior art in calibrating laser emission devices, and adopt a combination of photoelectric detection and coordinate transformation to achieve large-scale, high-precision, high-efficiency, and low-cost accurate positioning and calibration of spatial laser points.

[0042] The embodiments of the present invention have been described in detail with reference to the accompanying drawings. It should be noted that any implementations not depicted or described in the drawings or the main text of the specification are known to those skilled in the art and are not described in detail. Furthermore, the definitions of the various elements and methods described above are not limited to the specific structures, shapes, or methods described in the embodiments; those skilled in the art may easily modify or replace them.

[0043] In this document, unless otherwise specified, the so-called feature A "or" or "and / or" feature B means that A exists alone, B exists alone, or A and B exist at the same time; the so-called feature A "and" or "and" or "and" feature B means that A and B exist at the same time; the so-called "include", "comprise", "have" and "contain" mean including but not limited to these.

[0044] Furthermore, unless specifically described or required to occur sequentially, the order of the steps is not limited to the order listed above and may be varied or rearranged based on desired design requirements. Furthermore, the above embodiments may be mixed and matched with each other or with other embodiments based on design and reliability considerations. That is, the technical features of different embodiments may be freely combined to form more embodiments.

[0045] The above specific embodiments further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A spatial laser information sensing and positioning device, characterized in that: include: The photoelectric detection sensor is used to receive the laser to be measured through the photosensitive area and detect the nominal coordinate information of the incident point of the laser to be measured; Multiple magnetic target bases are provided on the outer shell surface of the photoelectric detection sensor, each magnetic target base is used to adapt to a standard laser target ball and cooperate with standard detection equipment to provide reference coordinate information; Among them, by calibrating the relative position relationship between the magnetic target and the photosensitive area of ​​the photoelectric detection sensor, and converting the nominal coordinate information into the calibration field coordinate information in the coordinate system of the standard detection equipment based on the reference coordinate information, the perception and positioning of the laser incident point to be measured is finally achieved; the photosensitive area of ​​the photoelectric detection sensor is measured by the non-contact image measurement function of the imager to obtain the information of the photoelectric detection sensor coordinate system; the magnetic target of the photoelectric detection sensor is measured by the contact probe measurement function of the imager to obtain the coordinate information of the magnetic target in the photoelectric detection sensor coordinate system, thereby determining the relative position relationship between the magnetic target and the photosensitive area of ​​the photoelectric detection sensor.

2. The spatial laser information sensing and positioning device according to claim 1, characterized in that: It also includes a photoelectric signal conversion board for receiving the current signal generated by the photoelectric detection sensor under the action of the laser to be measured; and obtaining the nominal coordinate information of the incident point of the laser to be measured based on the current signal.

3. The spatial laser information sensing and positioning device according to claim 1, characterized in that: The position of the magnetic target base equipped with a standard laser target ball is detected by standard detection equipment, and the reference coordinate information obtained by the detection is used as reference information for spatial coordinate conversion.

4. The spatial laser information sensing and positioning device according to any one of claims 1 to 3, characterized in that: The type of the photoelectric detection sensor is selected from a position sensitive detector or a four-quadrant detector; the standard detection equipment is a laser tracker or a three-coordinate measuring machine.

5. The spatial laser information sensing and positioning device according to claim 1, characterized in that: The number of magnetic target holders is 3-10.

6. The spatial laser information sensing and positioning device according to claim 5, characterized in that: The magnetic target seat and the photosensitive areas of the photoelectric detection sensor are arranged on the same surface of the outer shell or on different surfaces of the outer shell.

7. A method for calibrating a laser emitting device of a spatial laser information sensing and positioning device according to any one of claims 1 to 6, characterized in that: The laser emission device calibration method includes: Build a calibration field based on space laser information perception and positioning devices and standard testing equipment; The photosensitive area of ​​the photoelectric detection sensor receives the laser to be measured emitted by the laser emitting device to be calibrated, and detects and obtains the nominal coordinate information of the laser incident point; After the magnetic target base on the outer shell surface of the photoelectric detection sensor is adapted to the standard laser target sphere, the position information of the magnetic target base is obtained as reference coordinate information in conjunction with the standard detection equipment; calibrating the relative positional relationship between the magnetic target and the photosensitive area of ​​the photoelectric detection sensor; and Based on the reference coordinate information, the nominal coordinate information is converted into calibration field coordinate information in the standard detection equipment coordinate system, thereby finally achieving calibration of the laser emitting device to be calibrated.

8. The laser emitting device calibration method according to claim 7, characterized in that: The laser emitting device is any one of a laser tracker, a laser theodolite or a laser radar.

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