CN102262224A - Amplitude-modulated wave phase-locked laser ranging method and device - Google Patents
Amplitude-modulated wave phase-locked laser ranging method and device Download PDFInfo
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- CN102262224A CN102262224A CN201110187657XA CN201110187657A CN102262224A CN 102262224 A CN102262224 A CN 102262224A CN 201110187657X A CN201110187657X A CN 201110187657XA CN 201110187657 A CN201110187657 A CN 201110187657A CN 102262224 A CN102262224 A CN 102262224A
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Abstract
An amplitude-modulated wave phase-locked laser ranging method and an amplitude-modulated wave phase-locked laser ranging device belong to a laser ranging technology. An amplitude-modulated light wave phase-locked amplifier is arranged at a target end of an active phase ranging device; a measuring end of a ranging system sends a light beam of which the light intensity is subjected to sinusoidal modulation; and the target end of the ranging system performs phase-locked amplification on an amplitude-modulated light signal received from the measuring end, generates a laser signal with the same modulation frequency as a laser signal from the measuring end and a constant phase difference from the laser signal from the measuring end, and sends the laser signal back to the measuring end. The measuring end realizes ranging by detecting a phase difference between a sent signal and a received signal and combining the constant phase difference; and the method and the device have the characteristics of high ranging precision.
Description
Technical field
The invention belongs to laser ranging technique, particularly a kind of modulated wave phase-locking type laser distance measurement method and device.
Background technology
At present, the phase type laser ranging technique is widely used in long apart from high-acruracy survey.Phase type laser distance measurement method commonly used is divided into the reflective and two kinds of methods of destination end active collaboration type of destination end.The major defect of reflective distance-finding method is that the attenuated form of heliogram intensity is the biquadratic attenuation function of tested distance, and along with the increase of tested distance, the heliogram decay is very fast, causes signal to noise ratio (S/N ratio) to descend, thereby has limited the raising of ranging.For solving above defective, the active collaboration type phase laser distance measuring method and the device (patent No.: increased laser instrument in destination end ZL200810137082) of people such as Tan of Harbin Institute of Technology is refined for a long time, Liu Siyuan invention, be used for the amplification of light signal strength, thereby increased the range finding distance greatly, but its major defect is a destination end can introduce phase differential at receiving optical signals in this process of emission light signal, and this phase differential is the meeting real-time change under extraneous environmental impact, so that the result that finds range is inaccurate.
Summary of the invention
Introduce the deficiency of extra phase differential in destination end in order to overcome above-mentioned active collaboration type phase laser distance measuring method, the invention provides the phase-locked distance-finding method of a kind of modulated wave, this method is used the phase-locked multiplying arrangement of amplitude modulation light wave in destination end, the phase place of the phase place of the amplitude modulation light wave that destination end can be received and the amplitude modulation light wave of emission locks, and guarantees range finding result's accuracy.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of modulated wave phase-locking type laser distance measurement method, this method may further comprise the steps:
(1) at measuring junction, the sinusoidal modulation signal that the modulation signal generation unit produces affacts on the Laser Modulation unit, light intensity to laser output laser beam is modulated, be divided into two bundles through spectroscope again after this laser beam process collimating and correcting mirror group, a branch of directive measured target place, another bundle as with reference to light after photoelectricity transforms as the measuring junction reference signal, be designated as E
Mr
(2) at the measured target end, photelectric receiver will be converted to a signal input part that is input to lock-in amplifier behind the electric signal from the light signal of measuring end device, the output action of lock-in amplifier is in destination end laser optical modulation unit, the destination end laser instrument produces the laser signal of intensity modulation, be divided into two bundles through spectroscope again after this laser beam process collimating and correcting mirror group, the beam of laser signal is launched back measuring junction, and another bundle laser signal is input to another input end of lock-in amplifier after photoelectricity transforms;
(3) through the control of lock-in amplifier, make laser signal and the identical and phase difference constant of laser signal modulating frequency that the destination end laser instrument produces from measuring junction, be designated as
(4) the measuring junction device laser signal from the destination end device that will receive is converted to electric signal, is designated as E
Mm, to signal E
MmAnd E
MrDiffer and measure phase differential
And then obtain the phase differential relevant with tested distance
Thereby try to achieve tested distance.
A kind of modulated wave phase-locking type laser ranging system that is used for modulated wave phase-locking type laser distance measurement method, comprise the measuring junction device, the measuring junction apparatus structure is the modulation signal generation unit, laser intensity modulating unit A, laser instrument A connects successively, laser beam reshaping mirror group A, spectroscope A is positioned at after the laser instrument A successively, right-angle prism A is on the reflected light path of spectroscope A, plus lens A is on the reflected light path of right-angle prism A, avalanche photodetector A, photoelectric switching circuit A connects after plus lens A successively, plus lens B is positioned on the laser optical path that destination end launches back, avalanche photodetector B, photoelectric switching circuit B connects after plus lens B successively, the output terminal of photoelectric switching circuit A and photoelectric switching circuit B is linked into respectively on two input ends that differ measuring unit A, this distance measuring equipment also comprises phase-locking type destination end device, its structure is that plus lens C is positioned on the light path from the laser signal of measuring junction, avalanche photodetector C, photoelectric switching circuit C connects after plus lens C successively, phase-locked amplifying circuit, laser intensity modulating unit B, laser instrument B connects successively, spectroscope B is after laser instrument B, its transmitted light is launched back measuring junction, be positioned on the laser optical path that destination end launches back, right-angle prism B is on its reflected light path, plus lens D is on the reflected light path of right-angle prism B, avalanche photodetector D, photoelectric switching circuit D connects after plus lens D successively, the output terminal of photoelectric switching circuit C and photoelectric switching circuit D is connected respectively on two input ends of phase-locked amplifying circuit, constitutes the phase-locked loop.
The invention has the beneficial effects as follows, can simplify the structure of active formula phase distance meter destination end, eliminate destination end and carry out the phase differential that produces in the Photoelectric Signal Processing process, improve the range finding accuracy.
Description of drawings
Accompanying drawing is a modulated wave phase-locking type laser ranging system structural representation.
1. modulation signal generation units among the figure, 2. laser intensity modulating unit A, 3. laser instrument A, 4. laser beam reshaping mirror group A, 5. spectroscope A, 6. right-angle prism A, 7. plus lens A, 8. avalanche photodetector A, 9. photoelectric switching circuit A 10. differs measuring unit A, 11. measuring junction device, 12. photoelectric switching circuit B, 13. avalanche photodetector B, 14. plus lens B, 15. plus lens C, 16. avalanche photodetector C, 17. photoelectric switching circuit C, 18. phase-locked amplifying circuits, 19. photoelectric switching circuit D, 20. avalanche photodetector D, 21. plus lens D, 22. right-angle prism B, 23. spectroscope B, 24. laser instrument B, 25. laser intensity modulating unit B, 26. phase-locking type destination end devices.
Embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
1, the phase-locked distance-finding method of a kind of modulated wave, this method may further comprise the steps:
(1) at measuring junction, the sinusoidal modulation signal that the modulation signal generation unit produces affacts on the Laser Modulation unit, light intensity to laser output laser beam is modulated, be divided into two bundles through spectroscope again after this laser beam process collimating and correcting mirror group, a branch of directive measured target place, another bundle as with reference to light after photoelectricity transforms as the measuring junction reference signal, be designated as E
Mr
(2) at the measured target end, photelectric receiver will be converted to a signal input part that is input to lock-in amplifier behind the electric signal from the light signal of measuring end device, the output action of lock-in amplifier is in destination end laser optical modulation unit, the destination end laser instrument produces the laser signal of intensity modulation, be divided into two bundles through spectroscope again after this laser beam process collimating and correcting mirror group, the beam of laser signal is launched back measuring junction, and another bundle laser signal is input to another input end of lock-in amplifier after photoelectricity transforms;
(3) through the control of lock-in amplifier, make laser signal and the identical and phase difference constant of laser signal modulating frequency that the destination end laser instrument produces from measuring junction, be designated as
(4) the measuring junction device laser signal from the destination end device that will receive is converted to electric signal, is designated as E
Mm, to signal E
MmAnd E
MrDiffer and measure phase differential
And then obtain the phase differential relevant with tested distance
Thereby try to achieve tested distance.
2, a kind of modulated wave phase-locking type laser ranging system that is used for described modulated wave phase-locking type laser distance measurement method, comprise measuring junction device 11, measuring junction device 11 structures are modulation signal generation units 1, laser intensity modulating unit A2, laser instrument A3 connects successively, laser beam reshaping mirror group A4, spectroscope A5 is positioned at after the laser instrument A3 successively, right-angle prism A6 is on the reflected light path of spectroscope A5, plus lens A7 is on the reflected light path of right-angle prism A6, avalanche photodetector A8, photoelectric switching circuit A9 connects after plus lens A7 successively, plus lens B14 is positioned on the laser optical path that destination end launches back, avalanche photodetector B13, photoelectric switching circuit B12 connects after plus lens B14 successively, the output terminal of photoelectric switching circuit A9 and photoelectric switching circuit B12 is linked into respectively on two input ends that differ measuring unit A10, this device also comprises phase-locking type destination end device 26, its structure is that plus lens C15 is positioned on the light path from the laser signal of measuring junction, avalanche photodetector C16, photoelectric switching circuit C17 connects after plus lens C15 successively, phase-locked amplifying circuit 18, laser intensity modulating unit B25, laser instrument B24 connects successively, spectroscope B23 is after laser instrument B24, its transmitted light is launched back measuring junction, be positioned on the laser optical path that destination end launches back, right-angle prism B22 is on its reflected light path, plus lens D21 is on the reflected light path of right-angle prism B22, avalanche photodetector D20, photoelectric switching circuit D19 connects after plus lens D21 successively, the output terminal of photoelectric switching circuit C17 and photoelectric switching circuit D19 is connected respectively on two input ends of phase-locked amplifying circuit 18, constitutes the phase-locked loop.
During measurement, the modulation signal generation unit 1 in the measuring junction device 11 is according to the sinewave modulation signal of measurement requirement generation certain frequency, and this modulation signal affacts laser modulation unit A2 and upward the output intensity of laser instrument A3 carried out Sine Modulated.Behind the laser beam process shaping mirror group A4 after the modulation, be divided into two bundles by spectroscope A5, wherein a branch of directive destination end, converge on the photosurface of avalanche photodetector A8 behind another bundle process right-angle prism A6 and the plus lens A7, after photoelectric switching circuit A9 conversion, become electric signal, as the measuring junction reference signal, be designated as E
MrThe plus lens C15 of phase-locking type destination end device 26 will converge to from the laser signal of measuring junction on the photosurface of avalanche photodetector C16, be converted to electric signal through photoelectric switching circuit C17, extract modulation signal wherein simultaneously, be input to the signal input part of phase-locked amplifying circuit 18.The output action of phase-locked amplifying circuit 18 carries out Sine Modulated to the output intensity that laser intensity modulating unit B25 goes up laser instrument B24, laser beam after the modulation is divided into two bundles by spectroscope B23, wherein a branch of directive measuring junction 11, converge on the photosurface of avalanche photodetector D20 behind another bundle process right-angle prism B6 and the plus lens D21, after photoelectric switching circuit D19 conversion, become electric signal, be input to the feedback end of phase-locked amplifying circuit 18, form the phase-locked loop, obtain constant differing
At measuring junction, plus lens B14 will converge to from the laser signal of destination end on the photosurface of avalanche photodetector B13, through being converted into electric signal behind the photoelectric switching circuit B12, be designated as E
Mm, to signal E
MrWith signal E
MmDiffer and measure phase differential
And then obtain the phase differential relevant with tested distance
Thereby try to achieve tested distance.
Claims (2)
1. modulated wave phase-locking type laser distance measurement method, this method may further comprise the steps:
(1) at measuring junction, the sinusoidal modulation signal that the modulation signal generation unit produces affacts on the Laser Modulation unit, light intensity to laser output laser beam is modulated, be divided into two bundles through spectroscope again after this laser beam process collimating and correcting mirror group, a branch of directive measured target place, another bundle as with reference to light after photoelectricity transforms as the measuring junction reference signal, be designated as E
Mr
It is characterized in that:
(2) at the measured target end, photelectric receiver will be converted to a signal input part that is input to lock-in amplifier behind the electric signal from the light signal of measuring end device, the output action of lock-in amplifier is in destination end laser optical modulation unit, the destination end laser instrument produces the laser signal of intensity modulation, be divided into two bundles through spectroscope again after this laser beam process collimating and correcting mirror group, the beam of laser signal is launched back measuring junction, and another bundle laser signal is input to another input end of lock-in amplifier after photoelectricity transforms;
(3) through the control of lock-in amplifier, make laser signal and the identical and phase difference constant of laser signal modulating frequency that the destination end laser instrument produces from measuring junction, be designated as
(4) the measuring junction device laser signal from the destination end device that will receive is converted to electric signal, is designated as E
Mm, to signal E
MmAnd E
MrDiffer and measure phase differential
And then obtain the phase differential relevant with tested distance
Thereby try to achieve tested distance.
2. modulated wave phase-locking type laser ranging system that is used for modulated wave phase-locking type laser distance measurement method as claimed in claim 1, comprise measuring junction device (11), measuring junction device (11) structure is modulation signal generation unit (1), laser intensity modulating unit A (2), laser instrument A (3) connects successively, laser beam reshaping mirror group A (4), spectroscope A (5) is positioned at laser instrument A (3) afterwards successively, right-angle prism A (6) is on the reflected light path of spectroscope A (5), plus lens A (7) is on the reflected light path of right-angle prism A (6), avalanche photodetector A (8), photoelectric switching circuit A (9) connects afterwards successively at plus lens A (7), plus lens B (14) is positioned on the laser optical path that destination end launches back, avalanche photodetector B (13), photoelectric switching circuit B (12) connects afterwards successively at plus lens B (14), the output terminal of photoelectric switching circuit A (9) and photoelectric switching circuit B (12) is linked into respectively on two input ends that differ measuring unit A (10), it is characterized in that also comprising phase-locking type destination end device (26), its structure is that plus lens C (15) is positioned on the light path from the laser signal of measuring junction, avalanche photodetector C (16), photoelectric switching circuit C (17) connects afterwards successively at plus lens C (15), phase-locked amplifying circuit (18), laser intensity modulating unit B (25), laser instrument B (24) connects successively, spectroscope B (23) at laser instrument B (24) afterwards, its transmitted light is launched back measuring junction, be positioned on the laser optical path that destination end launches back, right-angle prism B (22) is on its reflected light path, plus lens D (21) is on the reflected light path of right-angle prism B (22), avalanche photodetector D (20), photoelectric switching circuit D (19) connects afterwards successively at plus lens D (21), the output terminal of photoelectric switching circuit C (17) and photoelectric switching circuit D (19) is connected respectively on two input ends of phase-locked amplifying circuit (18), constitutes the phase-locked loop.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102620911A (en) * | 2012-03-17 | 2012-08-01 | 哈尔滨工业大学 | Method and device for measuring transverse magnification of optical system by means of point target image splicing |
| CN103245315A (en) * | 2013-02-22 | 2013-08-14 | 杨士中 | Remote measuring system for micro displacement |
| CN104035089A (en) * | 2014-06-14 | 2014-09-10 | 哈尔滨工业大学 | Optical aliasing prevention traceable fine measurement tape semiconductor laser ranging device and method |
| CN105518480A (en) * | 2013-06-14 | 2016-04-20 | 微软技术许可有限责任公司 | Depth map correction using lookup tables |
| CN105842708A (en) * | 2016-06-21 | 2016-08-10 | 昆山穿山甲机器人有限公司 | Robot photoelectric ranging anti-collision system for preventing background light interference and robot photoelectric ranging anti-collision method thereof |
| CN107390225A (en) * | 2017-08-14 | 2017-11-24 | 杭州欧镭激光技术有限公司 | A kind of laser ranging system and its application method |
| CN109164457A (en) * | 2018-10-15 | 2019-01-08 | 青岛市光电工程技术研究院(中国科学院光电研究院青岛光电工程技术研究中心) | Laser ranging system and range accuracy modification method |
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| CN101349757A (en) * | 2008-09-10 | 2009-01-21 | 哈尔滨工业大学 | Active collaboration type phase laser distance measuring method and apparatus |
| US20090207418A1 (en) * | 2008-02-19 | 2009-08-20 | Korea Advanced Institute Of Science And Technology | Absolute distance measurement method and system using optical frequency generator |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102620911A (en) * | 2012-03-17 | 2012-08-01 | 哈尔滨工业大学 | Method and device for measuring transverse magnification of optical system by means of point target image splicing |
| CN102620911B (en) * | 2012-03-17 | 2014-10-15 | 哈尔滨工业大学 | Method and device for measuring transverse magnification of optical system by means of point target image splicing |
| CN103245315A (en) * | 2013-02-22 | 2013-08-14 | 杨士中 | Remote measuring system for micro displacement |
| CN103245315B (en) * | 2013-02-22 | 2016-12-28 | 杨士中 | Remote micro-displacement measuring system |
| CN105518480A (en) * | 2013-06-14 | 2016-04-20 | 微软技术许可有限责任公司 | Depth map correction using lookup tables |
| CN105518480B (en) * | 2013-06-14 | 2018-01-26 | 微软技术许可有限责任公司 | The method and device of depth map correction is carried out using look-up table |
| US10230934B2 (en) | 2013-06-14 | 2019-03-12 | Microsoft Tehcnology Licensing, Llc | Depth map correction using lookup tables |
| CN104035089A (en) * | 2014-06-14 | 2014-09-10 | 哈尔滨工业大学 | Optical aliasing prevention traceable fine measurement tape semiconductor laser ranging device and method |
| CN105842708A (en) * | 2016-06-21 | 2016-08-10 | 昆山穿山甲机器人有限公司 | Robot photoelectric ranging anti-collision system for preventing background light interference and robot photoelectric ranging anti-collision method thereof |
| CN107390225A (en) * | 2017-08-14 | 2017-11-24 | 杭州欧镭激光技术有限公司 | A kind of laser ranging system and its application method |
| CN107390225B (en) * | 2017-08-14 | 2024-02-02 | 杭州欧镭激光技术有限公司 | Laser ranging device and application method thereof |
| CN109164457A (en) * | 2018-10-15 | 2019-01-08 | 青岛市光电工程技术研究院(中国科学院光电研究院青岛光电工程技术研究中心) | Laser ranging system and range accuracy modification method |
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Application publication date: 20111130 |