CN103777547B - Wide range linear array photoelectric cell spot location tracking transducer and spot location method - Google Patents
Wide range linear array photoelectric cell spot location tracking transducer and spot location method Download PDFInfo
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Abstract
The invention provides a kind of wide range linear array photoelectric cell spot location tracking transducer and spot location method, this spot location tracking transducer comprises: the photoelectric cell group be connected to form by multiple rectangular light battery, and each rectangular light battery is electrically insulated each other; Multiplexed detection signal pre-processing module, comprises multiple preprocessing branch module, carries out amplification process obtain simulating signal to photoelectric cell signal; AD conversion module, is connected to the output terminal of each road preprocessing branch module, converts the simulating signal of output to digital signal; Computer signal disposal system, be connected to the output terminal of AD conversion module, the digital signal of serialization input is successively processed, calculate facula position, comprise: the Continuous Rectangular photoelectric cell covered by hot spot forms adaptive local two quadrant coordinate system, obtain the position of hot spot in this self-adaptation local two quadrant coordinate system, then by the fixed sturcture parameter of described photoelectric cell group, calculate hot spot in described photoelectric cell group form position in coordinate system.
Description
Technical field
The present invention relates to precision measurement and automatic control technology field, in particular to a kind of wide range linear array photoelectric cell spot location tracking transducer and spot location method.
Background technology
Laser has excellent directivity and high brightness, can be used as straight line and plane of scanning motion benchmark, straight line or the horizontal line measuring basis of geodetic surveying and construction project are widely used in, pave the way as highway, river course, tunnel is open-minded, airport, the benchmark of square construction bond linearity and flatness, and then realize automatically processing by laser plane, in these Measurement & Control engineerings, most important gordian technique and equipment are exactly the Detection And Tracking sense and control technique of collimation laser or scanning laser, quantitatively provide the plane to be measured and to be processed difference from datum line and plane in real time, to ensure the elevation pattern of plane to be measured, or for ensureing the depth of cut required for the flatness of plane to be processed or linearity, to realize automatic tracing control.
CCD facula position detection, PSD(PositionSensitiveDevice) facula position acquisition sensor be all measure and positioning field in commonly use Detection Techniques, and two quadrants or four-quadrant photocell are because the simple price of its structure is low and photosurface large and in light beam guiding with follow the tracks of in engineering and facula position target and also obtained extensive application, therefore develop a kind of precision and CCD and PSD quite and price is much lower, particularly range or dynamic range have much bigger photoelectric sensor to be necessary.
High precision and wide range as linearity and the measurement of planeness and the requirement of control system to detecting technique, particularly require large dynamic range and range at the tracing control of face with complex, and the existing acquisition sensor precision for locating all reaches 0.01mm level, can meet the demands, but owing to being subject to the restriction of CCD and PSD chip size, range is all at 10 grades, comparatively large scale price is very high, have to splice with multiple line CCD or PSD at the tracking measurement being sought after large length, but there is splicing interval, coordinate unification corrects difficulty, photoelectric cell is low more than prices such as CCD with Automatic tracking sensor as facula position detection, two Quadrant photo ponds are also usually used in precision measurement, particularly in tracing control engineering, but workspace is also only confined to quadrant and spot size yardstick, therefore develop existing high precision have again the kinetic measurement of tens centimetres and the photodetection of following range and tracking transducer in the urgent need to.
Summary of the invention
The defect existed for prior art or deficiency, the present invention aims to provide a kind of wide range linear array photoelectric cell spot location tracking transducer and spot location method.
For reaching above-mentioned purpose, the technical solution adopted in the present invention is as follows:
A kind of wide range linear array photoelectric cell spot location tracking transducer, comprising:
The photoelectric cell group be connected to form by N number of rectangular light battery, wherein each rectangular light battery is electrically insulated each other;
N road detectable signal pretreatment module, comprises N number of preprocessing branch module, and the photoelectric cell signal exported described N number of rectangular light battery respectively carries out amplification process, obtains simulating signal;
AD conversion module, is connected to the output terminal of each road preprocessing branch module described, converts the simulating signal that each road preprocessing branch module exports to digital signal; And
Computer signal disposal system, is connected to the output terminal of described AD conversion module, processes, calculate facula position to the digital signal of serialization input successively, wherein:
The Continuous Rectangular photoelectric cell covered by hot spot forms adaptive local two quadrant coordinate system, obtain the position of hot spot in this self-adaptation local two quadrant coordinate system, again based on the fixed sturcture parameter of described photoelectric cell group, calculate hot spot in described photoelectric cell group form position in coordinate system.
In further embodiment, it is that a pole is drawn that the photronic positive pole of described N number of rectangle is connected to form, the photronic negative pole of described N number of rectangle draw respectively and with N number of preprocessing branch model calling of described N road detectable signal pretreatment module.
In further embodiment, described Computer signal disposal system comprises a single-chip microcomputer, and it runs the program had for processing and calculate facula position to the digital signal of serialization input successively.
In further embodiment, described Computer signal disposal system comprises a digital signal processor, for processing the digital signal of serialization input successively and calculate facula position.
In further embodiment, the photoelectric cell signal of the actual output of described N number of rectangular light battery, after amplifying process and AD conversion, obtains n digital signal, n≤N, n digital signal successively serialization inputs described Computer signal disposal system and sets up photoelectric cell coordinate according to the order of sequence, wherein:
Base is designated as X
0-Y
0, each boundary coordinate is Y
n-X
n, wherein:
Y
0-X
0, Y
1-X
1, Y
2-X
2, Y
3-X
3y
m-X
my
n-X
n, wherein X
mbe m rectangular light battery and m+1 the photronic boundary of rectangle;
When hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value is positioned at the center intensity of hot spot overlay area.
In further embodiment, when hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value k meets:
k=(n-(m-1))/2+(m-1)，
Then facula measurement coordinate is Y
k-X, the position of spot center in self-adaptation two quadrant coordinate system is Y
k, then hot spot is at basis coordinates Y
0-X
0in position be Y=Y
k+ G
1+ G
2+ G
3+ ... + G
k-1, wherein G represents the interval of boundary coordinate.
According to improvement of the present invention, another aspect of the present invention also proposes a kind of spot location method utilizing above-mentioned wide range linear array photoelectric cell spot location tracking transducer to realize, and this spot location method comprises the following steps:
The photoelectric cell signal that multiple photoelectric cells that light spot received covers export;
Photoelectric cell signal is carried out amplification process;
Analog to digital conversion is carried out to the photoelectric cell signal after amplifying, is converted to digital signal and exports; And
Digital signal successively serialization is inputted a Computer signal disposal system, calculate facula position, wherein:
The Continuous Rectangular photoelectric cell covered by hot spot forms adaptive local two quadrant coordinate system, obtain the position of hot spot in this self-adaptation local two quadrant coordinate system, again based on the fixed sturcture parameter of described photoelectric cell group, calculate hot spot in described photoelectric cell group form position in coordinate system.
In further embodiment, the photoelectric cell signal of the actual output of described N number of rectangular light battery, after amplifying process and analog to digital conversion, obtains n digital signal, n≤N, n digital signal successively serialization inputs described Computer signal disposal system and sets up photoelectric cell coordinate according to the order of sequence, wherein:
Base is designated as X
0-Y
0, each boundary coordinate is Y
n-X
n, wherein:
Y
0-X
0, Y
1-X
1, Y
2-X
2, Y
3-X
3y
m-X
my
n-X
n, wherein X
mbe m rectangular light battery and m+1 the photronic boundary of rectangle;
When hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value is positioned at the center intensity of hot spot overlay area.
In further embodiment, when hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value k meets:
k=(n-(m-1))/2+(m-1)，
Then facula measurement coordinate is Y
k-X, the position of spot center in self-adaptation two quadrant coordinate system is Y
k, then hot spot is at basis coordinates Y
0-X
0in position be Y=Y
k+ G
1+ G
2+ G
3+ ... + G
k-1, wherein G represents the interval of boundary coordinate.
In further embodiment, described Computer signal disposal system comprises a single-chip microcomputer or digital signal processor, utilizes this single-chip microcomputer or digital signal processor to realize facula position location.
From the above technical solution of the present invention shows that, the wide range linear array photoelectric cell spot location tracking transducer that the present invention proposes and spot location method forms local two quadrant coordinate system by by the photoelectric cell of the adjacent continuous of hot spot actual coverings unit self-adaptation, solve spot diameter with apart from and change and area coverage on photoelectric cell and light intensity all in the computational problem that change brings.The intrinsic boundary spacing parameter that technical scheme of the present invention utilizes the inherent structure parameter of adaptive local two quadrant coordinate system and photoelectric cell unit, photoelectric cell to arrange, utilize DSP or MCU process, the position of glossing up in self-adaptation two quadrant coordinate system, and then draw its position in whole basis coordinates.Visible, technical scheme of the present invention can meet the measurement requirement of facula position and size variation under complex environment and long distance change condition.And at present, photocell technology comparative maturity, its price is low more than similar photodetector, many photoelectric cells long line links into an integrated entity and can accomplish that hot spot is all common algebraic operation at local coordinate with to the conversion of uniform coordinate more than photo-voltaic detector dynamic range much bigger linear array detector, realizes by information processing DSP or MCU, compared with prior art, technical scheme cost of the present invention is lower, and implementation procedure is uncomplicated, has larger promotional value.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of the present invention wide range linear array photoelectric cell spot location tracking transducer.
Fig. 2 is the schematic diagram of photoelectric cell coordinate in Fig. 1 embodiment.
Fig. 3 is the schematic flow sheet utilizing Fig. 1 embodiment wide range linear array photoelectric cell spot location tracking transducer to realize spot location method.
Embodiment
In order to more understand technology contents of the present invention, institute's accompanying drawings is coordinated to be described as follows especially exemplified by specific embodiment.
Figure 1 shows that the structural representation of an embodiment of the present invention wide range linear array photoelectric cell spot location tracking transducer, wherein, a kind of wide range linear array photoelectric cell spot location tracking transducer, comprise: the photoelectric cell group 1 be connected to form by N number of rectangular light battery (1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h), wherein each rectangular light battery is electrically insulated each other; N road detectable signal pretreatment module 2, comprises N number of preprocessing branch module (2a, 2b, 2c, 2d, 2e, 2f, 2g, 2h), and the photoelectric cell signal exported described N number of rectangular light battery respectively carries out amplification process, obtains simulating signal (u
1, u
2, u
3, u
4, u
5, u
6, u
7, u
8); AD conversion module 3, is connected to the output terminal of each road preprocessing branch module described, converts the simulating signal that each road preprocessing branch module exports to digital signal (U1, U2, U3, U4, U5, U6, U7, U8); And Computer signal disposal system 4, be connected to the output terminal of described AD conversion module 3, the digital signal of serialization input is successively processed, calculate facula position, wherein: the Continuous Rectangular photoelectric cell covered by hot spot forms adaptive local two quadrant coordinate system, obtain the position of hot spot in this self-adaptation local two quadrant coordinate system, then based on the fixed sturcture parameter of described photoelectric cell group, calculate hot spot in described photoelectric cell group form position in coordinate system.
In embodiment shown in Fig. 1, described N value is 8, and namely aforesaid photoelectric cell group 1 is made up of above-mentioned 8 photoelectric cells (1a, 1b, 1c, 1d, 1e, 1f, 1g, 1h).In a further embodiment, aforesaid photoelectric cell group 1 can also comprise the photoelectric cell group of other numbers depending on design or actual conditions, be not limited to 8.
In the present embodiment, the fixed sturcture parameter of photoelectric cell group comprises photoelectric cell when being arranged in order connection, the distance between each photoelectric cell, and the length of each photoelectric cell itself and width.These preset parameters can think known parameters, because these parameters are all by photronic nameplate data, instructions or can be demarcated by prior coordinate, hold facile.
Have preferably, it is that a pole is drawn that the photronic positive pole of described N number of rectangle is connected to form, the photronic negative pole of described N number of rectangle draw respectively and with N number of preprocessing branch model calling of described N road detectable signal pretreatment module.
Each rectangular light battery parallel signalling channel multiple with corresponding preprocessing branch module composition.
In an optional embodiment, aforementioned computer signal processing system 4 comprises a single-chip microcomputer (MCU), and it runs the program had for processing and calculate facula position to the digital signal of serialization input successively.
In further embodiments, aforementioned computer signal processing system 4 comprises a digital signal processor (DSP), for processing the digital signal of serialization input successively and calculate facula position.
Obvious, above-mentioned single-chip microcomputer (MCU) or digital signal processor (DSP) all can be used as a microprocessor system and use, and comprise arithmetical unit, controller, storer, input-output device.
Because hot spot moves along long line photoelectric cell, particularly very large in complex control environment upper/lower positions variable dynamic range.Stride across the local two quadrant coordinate of different horizontal ordinate line, how correctly to determine that hot spot position is in the sensor the key issue that sensor controls fast, working control with measure in the difficult problem that has that exists be exactly diversity due to laser, spot diameter changes with distance, area coverage on photoelectric cell and light intensity, all in change, can not calculate by fixing two quadrant method.Therefore in the present embodiment, shown in composition graphs 1 described above, Fig. 2, the photoelectric cell signal of the actual output of described N number of rectangular light battery is after amplifying process and AD conversion, obtain n digital signal, n≤N, n digital signal successively serialization inputs described Computer signal disposal system and sets up photoelectric cell coordinate according to the order of sequence, wherein:
Base is designated as X
0-Y
0, each boundary coordinate is Y
n-X
n, wherein:
Y
0-X
0, Y
1-X
1, Y
2-X
2, Y
3-X
3y
m-X
my
n-X
n, wherein X
mbe m rectangular light battery and m+1 the photronic boundary of rectangle, as shown in Figure 2;
When hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value is positioned at the center intensity of hot spot overlay area.
As the present invention's preferably embodiment, when hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value k meets:
k=(n-(m-1))/2+(m-1)，
Then facula measurement coordinate is Y
k-X, the position of spot center in self-adaptation two quadrant coordinate system is Y
k, then hot spot is at basis coordinates Y
0-X
0in position be Y=Y
k+ G
1+ G
2+ G
3+ ... + G
k-1, wherein G represents the interval of boundary coordinate.
Shown in figure 2, Y
1, Y
2, Y
3, Y
4, Y
5, Y
6, Y
7, Y
8determine the interval G of boundary coordinate, as the fixed sturcture parameter of aforesaid photoelectric cell group.
If light class is actual in 123 photronic photoelectric cell signal U1, U2, U3, select the intermediate value of 123 batteries, as Y
1-X
1or Y
2-X
2for horizontal ordinate line, hot spot at this coordinate center is; Y
1=R(U2+U3-U1)/(U2+U3+U1)=BR, and the problems such as hot spot changes with distance, the difficulty of on-site proving, determine that R is key point.In the present embodiment, adopt the method for demarcating in advance.
Covered the signal intensity dutycycle C=(U1+U2+U3/3Um of photoelectric cell generation by hot spot when measuring at every turn, Um is the maximal value in U1, U2, U3, namely completely covers photoelectric cell signal value, R=H/2=C(G
1+ G
2+ G
3it is high that)/2, R equal hot spot half, so determines that hot spot height is more appropriate.Available mobile mircrometer gauge measurement photoelectric cells transverse axis X
1---the position of Xn successively when same hot spot difference placed in the middle is zero is Y
nadjacent difference is G
ndemarcation, then hot spot is at basis coordinates Y
0-X
0coordinate figure be: Y=Y
1(k value is 1), as got Y
2-X
1coordinate, then Y=Y
2+ G
1(k value is 2).
Such as, if photronic output signal is U2, U3, U4, U5, then show hot spot actual covering photoelectric cell 2,3,4,5, as aforementioned intermediate value k computing formula, intermediate value line is: (5-(2-1))/2+1=3, gets Y
3-X is transverse axis, can obtain facula position Y
3, then at basis coordinates Y
0-X
0in position be Y=Y
k+ G
1+ G
2+ G
3+ ... + G
k-1=Y
3+ G
2+ G
1.
Figure 3 shows that the flow process utilizing Fig. 1 embodiment wide range linear array photoelectric cell spot location tracking transducer to realize spot location method, wherein, this spot location method comprises the following steps:
The photoelectric cell signal that multiple photoelectric cells that light spot received covers export;
Photoelectric cell signal is carried out amplification process;
Analog to digital conversion is carried out to the photoelectric cell signal after amplifying, is converted to digital signal and exports; And
Digital signal successively serialization is inputted a Computer signal disposal system, calculate facula position, wherein:
The Continuous Rectangular photoelectric cell covered by hot spot forms adaptive local two quadrant coordinate system, obtain the position of hot spot in this self-adaptation local two quadrant coordinate system, again based on the fixed sturcture parameter of described photoelectric cell group, calculate hot spot in described photoelectric cell group form position in coordinate system.
As previously mentioned, the photoelectric cell signal of the actual output of described N number of rectangular light battery, after amplifying process and analog to digital conversion, obtains n digital signal, n≤N, n digital signal successively serialization inputs described Computer signal disposal system and sets up photoelectric cell coordinate according to the order of sequence, wherein:
Base is designated as X
0-Y
0, each boundary coordinate is Y
n-X
n, wherein:
Y
0-X
0, Y
1-X
1, Y
2-X
2, Y
3-X
3y
m-X
my
n-X
n, wherein X
mbe m rectangular light battery and m+1 the photronic boundary of rectangle;
When hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value is positioned at the center intensity of hot spot overlay area.
As preferably, when spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value k meets:
k=(n-(m-1))/2+(m-1)，
Then facula measurement coordinate is Y
k-X, the position of spot center in self-adaptation two quadrant coordinate system is Y
k, then hot spot is at basis coordinates Y
0-X
0in position be Y=Y
k+ G
1+ G
2+ G
3+ ... + G
k-1, wherein G represents the interval of boundary coordinate.
Alternatively, described Computer signal disposal system comprises a single-chip microcomputer or digital signal processor, utilizes this single-chip microcomputer or digital signal processor to realize facula position location.
Although the present invention with preferred embodiment disclose as above, so itself and be not used to limit the present invention.Persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is when being as the criterion depending on those as defined in claim.
Claims (7)
1. a wide range linear array photoelectric cell spot location tracking transducer, is characterized in that, comprising:
The photoelectric cell group be connected to form by N number of rectangular light battery, wherein each rectangular light battery is electrically insulated each other;
N road detectable signal pretreatment module, comprises N number of preprocessing branch module, and the photoelectric cell signal exported described N number of rectangular light battery respectively carries out amplification process, obtains simulating signal;
AD conversion module, is connected to the output terminal of each road preprocessing branch module described, converts the simulating signal that each road preprocessing branch module exports to digital signal; And
Computer signal disposal system, is connected to the output terminal of described AD conversion module, processes, calculate facula position to the digital signal of serialization input successively, wherein:
The Continuous Rectangular photoelectric cell covered by hot spot forms adaptive local two quadrant coordinate system, obtain the position of hot spot in this self-adaptation local two quadrant coordinate system, again based on the fixed sturcture parameter of described photoelectric cell group, calculate hot spot in described photoelectric cell group form position in coordinate system;
Wherein, the photoelectric cell signal of the actual output of described N number of rectangular light battery, after amplifying process and AD conversion, obtains n digital signal, and n≤N, n digital signal successively serialization inputs described Computer signal disposal system and also set up photoelectric cell coordinate according to the order of sequence, wherein:
Base is designated as X
0-Y
0, each boundary coordinate is Y
n-X
n, wherein:
Y
0-X
0, Y
1-X
1, Y
2-X
2, Y
3-X
3y
m-X
my
n-X
n, wherein X
mbe m rectangular light battery and m+1 the photronic boundary of rectangle;
When hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value is positioned at the center intensity of hot spot overlay area.
2. wide range linear array photoelectric cell spot location tracking transducer according to claim 1, is characterized in that, when hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value k meets:
k＝(n-(m-1))/2+(m-1)，
Then facula measurement coordinate is Y
k-X, the position of spot center in self-adaptation two quadrant coordinate system is Y
k, then hot spot is at basis coordinates Y
0-X
0in position be Y=Y
k+ G
1+ G
2+ G
3+ ... + G
k-1, wherein G represents the interval of boundary coordinate.
3. wide range linear array photoelectric cell spot location tracking transducer according to claim 1, it is characterized in that, it is that a pole is drawn that the photronic positive pole of described N number of rectangle is connected to form, the photronic negative pole of described N number of rectangle draw respectively and with N number of preprocessing branch model calling of described N road detectable signal pretreatment module.
4. wide range linear array photoelectric cell spot location tracking transducer according to claim 1, it is characterized in that, described Computer signal disposal system comprises a single-chip microcomputer, and it runs the program had for processing and calculate facula position to the digital signal of serialization input successively.
5. wide range linear array photoelectric cell spot location tracking transducer according to claim 1, it is characterized in that, described Computer signal disposal system comprises a digital signal processor, for processing the digital signal of serialization input successively and calculate facula position.
6. utilize the spot location method that the wide range linear array photoelectric cell spot location tracking transducer described in claim 1 realizes, it is characterized in that, the method comprises the following steps:
The photoelectric cell signal that multiple photoelectric cells that light spot received covers export;
Photoelectric cell signal is carried out amplification process;
Analog to digital conversion is carried out to the photoelectric cell signal after amplifying, is converted to digital signal and exports; And
Digital signal successively serialization is inputted a Computer signal disposal system, calculate facula position, wherein:
The Continuous Rectangular photoelectric cell covered by hot spot forms adaptive local two quadrant coordinate system, obtain the position of hot spot in this self-adaptation local two quadrant coordinate system, again based on the fixed sturcture parameter of described photoelectric cell group, calculate hot spot in described photoelectric cell group form position in coordinate system;
Wherein, the photoelectric cell signal of the actual output of described N number of rectangular light battery, after amplifying process and analog to digital conversion, obtains n digital signal, n≤N, n digital signal successively serialization inputs described Computer signal disposal system and sets up photoelectric cell coordinate according to the order of sequence, wherein:
Base is designated as X
0-Y
0, each boundary coordinate is Y
n-X
n, wherein:
Y
0-X
0, Y
1-X
1, Y
2-X
2, Y
3-X
3y
m-X
my
n-X
n, wherein X
mbe m rectangular light battery and m+1 the photronic boundary of rectangle;
When hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value is positioned at the center intensity of hot spot overlay area.
7. spot location method according to claim 6, is characterized in that, when hot spot overlay area is from m to n-th yuan of rectangular light battery, its intermediate value k meets:
k＝(n-(m-1))/2+(m-1)，
Then facula measurement coordinate is Y
k-X, the position of spot center in self-adaptation two quadrant coordinate system is Y
k, then hot spot is at basis coordinates Y
0-X
0in position be Y=Y
k+ G
1+ G
2+ G
3+ ... + G
k-1, wherein G represents the interval of boundary coordinate.
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| GB0519599D0 (en) * | 2005-09-26 | 2005-11-02 | Imp College Innovations Ltd | Photovoltaic cells |
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| CN101672641A (en) * | 2009-09-18 | 2010-03-17 | 中国科学院光电技术研究所 | Optical precision tracking detector based on double four quadrant photoelectric detectors |
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