CN106646840A - Equivalent optical system for omnidirectional point detector - Google Patents
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Abstract
本发明涉及大尺寸空间精密定位领域，为提出一种全向的点探测器等效光学系统，利用巧妙的、特殊的光学系统结构，提高点探测器的探测精度和响应速度的同时将探测视场增大到水平360°、垂直‑45°—+5°。为了实现上述目的，本发明采用的技术方案是，全向点探测器等效光学系统，由包括双曲面、抛物面在内的二次曲面凸面反射镜、安装在所述反射镜正下方光电探测器、入射窗构成，入射窗为截取空心球的中间部分，二次曲面凸面反射镜位于空心球中间部分上部且凸面向下，空心球的球心与二次曲面凸面反射镜镜片内焦点重合，光电探测器的中心位于二次曲面凸面反射镜镜片外焦点。本发明主要应用于大尺寸空间精密定位。
The present invention relates to the field of large-scale space precision positioning. In order to propose an omnidirectional point detector equivalent optical system, a clever and special optical system structure is used to improve the detection accuracy and response speed of the point detector and at the same time the The field increases to 360° horizontally, ‑45°—+5° vertically. In order to achieve the above object, the technical solution adopted by the present invention is that the equivalent optical system of the omnidirectional point detector consists of a quadric convex reflector including a hyperboloid and a paraboloid, and a photodetector installed directly below the reflector. 1. The entrance window is composed of the entrance window, which intercepts the middle part of the hollow sphere. The quadratic convex reflector is located on the upper part of the hollow sphere with the convex surface facing down. The center of the hollow sphere coincides with the inner focus of the quadric convex reflector. The center of the detector is located at the outer focal point of the quadric convex mirror lens. The invention is mainly applied to precise positioning in large-size space.
Description
技术领域technical field
本发明涉及大尺寸空间精密定位领域，尤其涉及一种用于大尺寸精密定位系统接收装置的全向点探测技术。具体讲,涉及全向点探测器等效光学系统。The invention relates to the field of large-scale precise positioning in space, in particular to an omnidirectional point detection technology for a receiving device of a large-scale precise positioning system. Specifically, it involves the equivalent optical system of an omnidirectional point detector.
背景技术Background technique
大尺寸空间精密定位系统是为了满足大型制造业的加工和装配要求，该系统借鉴全球定位系统的测量思想，利用多个激光发射站对一个接收装置定位，由于发射站发出的是绕固定轴匀速旋转的扫描激光，并且发射站的位置是动态变化的，平面接收器显然不能满足动态的定位要求，而现有的全向探测定位技术虽然可以探测大视场范围内光束，但定位精度低、响应速度慢。全向的点探测系统综合全向探测器和点探测器的优点，不仅能够实现360°光束的探测，而且定位高精度、响应速度快。The large-scale space precision positioning system is to meet the processing and assembly requirements of large-scale manufacturing industries. The system draws on the measurement idea of the global positioning system and uses multiple laser transmitting stations to locate a receiving device. Since the transmitting station sends out a uniform speed around a fixed axis Rotating scanning laser, and the position of the transmitting station is dynamically changing, the planar receiver obviously cannot meet the dynamic positioning requirements, and the existing omnidirectional detection and positioning technology can detect beams in a large field of view, but the positioning accuracy is low, Response is slow. The omnidirectional point detection system integrates the advantages of omnidirectional detectors and point detectors, not only can realize 360° beam detection, but also has high positioning accuracy and fast response speed.
现有的全向探测定位技术采用的光电探测器件主要是面探测器或线探测器，分为成像型和非成像型。The photodetection devices used in the existing omnidirectional detection and positioning technology are mainly area detectors or line detectors, which are divided into imaging type and non-imaging type.
成像型技术基本原理是将光电探测器件放在成像系统的焦平面上，光电探测器对入射光束成像，然后根据成像光斑来确定光束方向、波长等信息。成像型的光束探测为了实现大视场范围内任意方向的光束探测，成像系统通常是由鱼眼镜头构成，鱼眼镜头的视场一般为180°，最大可达到270°，但鱼眼镜头的光学结构非常复杂，不利于结构的小型化。另外还有采用旋转棱镜、全息透镜等成像系统，但均不能达到全向的视场要求，并且结构复杂，对图像传感器的要求高。The basic principle of imaging technology is to place the photodetector device on the focal plane of the imaging system, the photodetector images the incident beam, and then determines the beam direction, wavelength and other information according to the imaging spot. Imaging-type beam detection In order to realize beam detection in any direction within a large field of view, the imaging system is usually composed of a fisheye lens. The field of view of the fisheye lens is generally 180°, and the maximum can reach 270°. The optical structure is very complex, which is not conducive to the miniaturization of the structure. In addition, there are imaging systems such as rotating prisms and holographic lenses, but none of them can meet the omnidirectional field of view requirements, and the structure is complex, which requires high requirements for image sensors.
非成像型技术通常是采用多通道技术，如接收系统由多个接收窗口组成，每个窗口对应不同的方位，根据不同窗口号来探测光束。另外还有光纤延迟、掩膜编码等技术均可用来探测光束。与成像型探测技术相比，非成像型探测技术结构及数据处理相对简单，但探测精度较差。Non-imaging technology usually adopts multi-channel technology. For example, the receiving system is composed of multiple receiving windows, each window corresponds to a different orientation, and the beam is detected according to different window numbers. In addition, technologies such as fiber delay and mask coding can be used to detect the beam. Compared with imaging detection technology, non-imaging detection technology has relatively simple structure and data processing, but its detection accuracy is poor.
面探测器或线探测器与点探测器相比，探测灵敏度差，影响系统探测精度的提高。现有的光电技术制造出的高质量的点探测器，能用于单光子计数、极弱光探测等领域，但由于视场非常小，一般不用于光束探测。Compared with point detectors, surface detectors or line detectors have poor detection sensitivity, which affects the improvement of system detection accuracy. The high-quality point detectors manufactured by the existing optoelectronic technology can be used in single photon counting, extremely weak light detection and other fields, but they are generally not used for beam detection due to their very small field of view.
发明内容Contents of the invention
为克服现有技术的不足，本发明旨在提出一种全向的点探测器等效光学系统，利用巧妙的、特殊的光学系统结构，提高点探测器的探测精度和响应速度的同时将探测视场增大到水平360°、垂直-45°—+5°。为了实现上述目的，本发明采用的技术方案是，全向点探测器等效光学系统，由包括双曲面、抛物面在内的二次曲面凸面反射镜、安装在所述反射镜正下方光电探测器、入射窗构成，入射窗为截取空心球的中间部分，二次曲面凸面反射镜位于空心球中间部分上部且凸面向下，空心球的球心与二次曲面凸面反射镜镜片内焦点重合，光电探测器的中心位于二次曲面凸面反射镜镜片外焦点。In order to overcome the deficiencies in the prior art, the present invention aims to propose an omnidirectional point detector equivalent optical system, which utilizes an ingenious and special optical system structure to improve the detection accuracy and response speed of the point detector while simultaneously detecting The field of view is increased to 360° horizontally and -45°—+5° vertically. In order to achieve the above object, the technical solution adopted by the present invention is that the equivalent optical system of the omnidirectional point detector consists of a quadric convex reflector including a hyperboloid and a paraboloid, and a photodetector installed directly below the reflector. 1. The entrance window is composed of the entrance window, which intercepts the middle part of the hollow sphere. The quadratic convex reflector is located on the upper part of the hollow sphere with the convex surface facing down. The center of the hollow sphere coincides with the inner focus of the quadric convex reflector. The center of the detector is located at the outer focal point of the quadric convex mirror lens.
凸曲面反射镜为抛物面反射镜，所述抛物面反射镜有实焦点，所述抛物面反射镜正下方设有一片会聚镜，所述会聚镜正下方设有光电探测器，所述光电探测器中心位于所述抛物面反射镜和会聚镜构成的光学系统的焦点处。The convex curved reflector is a parabolic reflector, the parabolic reflector has a real focus, a converging mirror is provided directly below the parabolic reflector, a photodetector is provided directly below the converging mirror, and the center of the photodetector is located at The focal point of the optical system formed by the parabolic mirror and the converging mirror.
入射窗结构简化为空心柱状结构，二次曲面凸面反射镜改为非球面反射镜，非球面反射镜具备与二次曲面凸面反射镜等效的内焦点和外焦点。The entrance window structure is simplified to a hollow cylindrical structure, and the quadric convex reflector is changed to an aspheric reflector, and the aspheric reflector has an inner focus and an outer focus equivalent to the quadric convex reflector.
所述全向点探测器等效光学系统上部平面为分界，成对称放置有与所述全向点探测器等效光学系统完全相同结构。The upper plane of the equivalent optical system of the omnidirectional point detector is a boundary, and the same structure as that of the equivalent optical system of the omnidirectional point detector is placed symmetrically.
本发明的特点及有益效果是：Features and beneficial effects of the present invention are:
(1)结构简单，仅用一片或两片镜片即可实现全向的光束探测，从而实现定位；(1) The structure is simple, and only one or two lenses can realize omnidirectional beam detection, thereby realizing positioning;
(2)不需要很大的面阵或线阵探测器，仅用单点探测器，响应速度快；(2) It does not require a large area array or line array detector, only a single point detector is used, and the response speed is fast;
(3)用光学系统实现点探测器的等效，极大提高了光束的探测精度。(3) The equivalence of the point detector is realized by the optical system, which greatly improves the detection accuracy of the beam.
附图说明：Description of drawings:
图1为本发明等效点探测器探测原理示意图。Fig. 1 is a schematic diagram of the detection principle of the equivalent point detector of the present invention.
图2为本发明实施例一双曲面型反射系统的结构示意图。FIG. 2 is a schematic structural diagram of a hyperboloid reflection system according to an embodiment of the present invention.
图3为本发明实施例二抛物面型反射系统的结构示意图。FIG. 3 is a schematic structural diagram of a parabolic reflector system according to Embodiment 2 of the present invention.
图4为本发明实施例一和二改进型结构示意图。Fig. 4 is a schematic diagram of the improved structure of Embodiments 1 and 2 of the present invention.
图5为本发明拓展探测角度的结构示意图。Fig. 5 is a schematic structural diagram of expanding the detection angle of the present invention.
具体实施方式detailed description
一种全向点探测器等效光学系统，包括双曲面、抛物面等二次曲面凸面反射镜，所述反射镜正下方安装光电探测器，所述反射镜和光电探测器外安装入射窗，实现水平360°、垂直-45°—+5°的入射光线的探测。An omnidirectional point detector equivalent optical system, including a quadratic convex mirror such as a hyperboloid or a parabola, a photodetector is installed directly below the mirror, and an incident window is installed outside the mirror and the photodetector to realize Detection of incident light at 360° horizontally and -45°—+5° vertically.
作为本发明的进一步改进，与上述光束探测系统成对称放置完全相同的一套探测系统，用于探测水平360°、垂直-5°—+45°入射光线。As a further improvement of the present invention, a set of detection systems exactly the same as the above-mentioned light beam detection system is symmetrically placed to detect horizontal 360° and vertical -5°—+45° incident light.
作为本发明的进一步改进，入射窗为空心球状并且球心与反射镜的内焦点重合，这样射向反射镜内焦点的光束不会被入射窗改变方向。As a further improvement of the present invention, the entrance window is hollow spherical and the center of the sphere coincides with the inner focus of the reflector, so that the light beam directed to the inner focus of the reflector will not be redirected by the entrance window.
本发明能够等效点探测器来测量光束，其具体步骤如下：The present invention can be equivalent to a point detector to measure the light beam, and its specific steps are as follows:
(1)利用二次曲面型凸反射镜的焦点特性，如双曲面有两个焦点位置，一个位于镜片内，一个位于镜片外，对于延长线经过镜片内焦点F1的入射光线，经双曲面反射后经过另一个焦点F2；抛物面只有一个位于镜片内的实焦点，向该焦点入射的光线经其反射后平行系统光轴出射。(1) Utilize the focal point characteristics of quadratic convex reflector, such as the hyperboloid has two focal positions, one is located inside the lens, and the other is located outside the lens, for the incident light whose extension line passes through the inner focal point F1 of the lens, it passes through the hyperboloid After reflection, it passes through another focal point F 2 ; the paraboloid has only one real focal point located in the lens, and the light incident to this focal point is reflected by it and exits parallel to the optical axis of the system.
(2)双曲面具有内外两个焦点，向内焦点入射的光线经反射面后一定会聚于外焦点，此处放置光电探测器即可实现点探测功能。由于双曲面的双焦点特性，不同角度的光束在探测器位置形成的光斑能量差小、且光斑中心均在探测器的中心，因此所需光电探测器感光面不需要很大，直接提高了系统的探测精度和响应速度。故双曲面反射镜的内焦点F1即为等效点探测器的等效点位置，实际的探测器位置是双曲面反射镜的外焦点F2位置，在上述视场内的任意光线入射系统，但只有入射方向的延长线经过内焦点F1的光线才能被系统探测到，实现全向点探测器的目标。(2) The hyperboloid has two focal points, inside and outside. The light incident on the inner focal point must converge on the outer focal point after passing through the reflective surface. The point detection function can be realized by placing a photodetector here. Due to the bifocal characteristics of the hyperboloid, the energy difference of the spot formed by beams of different angles at the detector position is small, and the center of the spot is at the center of the detector, so the photosensitive surface of the required photodetector does not need to be large, which directly improves the system. detection accuracy and response speed. Therefore, the inner focus F1 of the hyperboloid reflector is the equivalent point position of the equivalent point detector, and the actual detector position is the outer focus F2 of the hyperboloid reflector. , but only the light whose extension line of the incident direction passes through the inner focus F 1 can be detected by the system, realizing the goal of an omnidirectional point detector.
(3)对于抛物面而言，当一束光经入射窗折射后到达反射面，延长线经过抛物面反射镜焦点F3的光线会平行光轴出射，以该光线为中心光线的细光束经抛物面反射镜正下方一片会聚镜会聚之后被该片透镜正下方的光电探测器接收到，且光斑中心位于探测器的中心。因此，抛物面反射镜的焦点F3也可为等效点探测器的等效点位置，同样也可实现全向点探测器的目标。(3) For a paraboloid, when a beam of light reaches the reflective surface after being refracted by the incident window, the light that extends through the focal point F3 of the parabolic reflector will exit parallel to the optical axis, and the thin beam centered on the light will be reflected by the paraboloid A converging mirror directly below the mirror is converged and then received by the photodetector directly below the lens, and the center of the light spot is located at the center of the detector. Therefore, the focal point F 3 of the parabolic reflector can also be the equivalent point position of the equivalent point detector, and also can realize the target of the omnidirectional point detector.
作为本发明的进一步改进，为了减小系统的体积以及入射窗的加工、装配难度，将空心球状的入射窗改成空心柱状。对于空心柱状的入射窗，由于平行平板对光线的偏移，不同角度入射光线也会有不同程度的光线平移，不同角度的入射光经过加空心柱状入射窗系统的光斑会有不同程度的偏心，即等效点探测器的等效点不再是同一个点。为了校正等效点的偏离，可以将双曲面反射镜改成非球面反射镜，等效出新的焦点。As a further improvement of the present invention, in order to reduce the volume of the system and the difficulty of processing and assembling the entrance window, the hollow spherical entrance window is changed into a hollow cylinder. For the hollow cylindrical entrance window, due to the offset of the parallel plate to the light, the incident light at different angles will also have different degrees of light translation, and the incident light at different angles will have different degrees of eccentricity when passing through the hollow cylindrical entrance window system. That is, the equivalent point of the equivalent point detector is no longer the same point. In order to correct the deviation of the equivalent point, the hyperbolic reflector can be changed into an aspheric reflector, equivalent to a new focal point.
如图1所示，为等效点探测器探测原理示意图，用于探测水平360°、垂直-45°—+5°范围的光束。As shown in Figure 1, it is a schematic diagram of the detection principle of the equivalent point detector, which is used to detect beams in the range of 360° horizontally and -45°—+5° vertically.
实施例一Embodiment one
如图2所示，一种全向点探测器等效光学系统，包括面型为双曲面的凸反射镜1，所述双曲面反射镜1有内焦点2和外焦点3。所述双曲面反射镜1的正下方安装有单点探测器4，并且所述光电探测器4的中心位于所述外焦点3处，所述光电探测器4外有保护套5。所述双曲面反射镜1和所述光电探测器4外安装塑料材料入射窗6，所述入射窗6的面型为有一定厚度的空心球，且球心位于所述双曲面反射镜1的所述内焦点2处，为了减小体积，截取空心球的中间部分。As shown in FIG. 2 , an omnidirectional point detector equivalent optical system includes a convex reflector 1 with a hyperboloid surface, and the hyperboloid reflector 1 has an inner focus 2 and an outer focus 3 . A single-point detector 4 is installed directly under the hyperboloid mirror 1 , and the center of the photodetector 4 is located at the outer focal point 3 , and a protective cover 5 is placed outside the photodetector 4 . The hyperboloid reflector 1 and the photodetector 4 are equipped with a plastic material incident window 6, the surface of the incident window 6 is a hollow sphere with a certain thickness, and the center of the sphere is located at the center of the hyperboloid reflector 1. At the inner focal point 2, in order to reduce the volume, the middle part of the hollow sphere is intercepted.
在本实施例中，在水平360°、垂直-45°—+5°之间任意角度的入射光束从所述入射窗6入射到所述双曲面反射镜1，经所述双曲面镜1反射后，延长线经过所述焦点2的光线(如以-45°入射的光线7和以+5°入射的光线8)经所述双曲面反射镜1反射之后，入射到所述光电探测器4的中心。In this embodiment, the incident light beam at any angle between horizontal 360° and vertical -45°—+5° enters the hyperboloid mirror 1 from the entrance window 6 and is reflected by the hyperboloid mirror 1 Afterwards, the light rays (such as the light rays 7 incident with -45° and the light rays 8 incident with +5°) passing through the focal point 2 by the extension line are reflected by the hyperbolic reflector 1 and then incident on the photodetector 4 center of.
实施例二Embodiment two
如图2所示，一种全向点探测器等效光学系统，与实施例一不同之处在于，凸曲面反射镜为抛物面反射镜9，所述抛物面反射镜9有实焦点10，所述抛物面反射镜9正下方设有一片会聚镜11，所述会聚镜11正下方设有与实施例一相同的光电探测器4，所述光电探测器4中心位于所述抛物面反射镜9和会聚镜11构成的光学系统的焦点12处。As shown in Figure 2, an omnidirectional point detector equivalent optical system is different from Embodiment 1 in that the convex curved mirror is a parabolic mirror 9, and the parabolic mirror 9 has a real focal point 10, and the A converging mirror 11 is provided directly below the parabolic reflector 9, and a photodetector 4 identical to that of Embodiment 1 is provided directly below the converging mirror 11, and the center of the photodetector 4 is located at the parabolic reflector 9 and the converging mirror. 11 constitutes the focal point 12 of the optical system.
在本实施例中，水平360°、垂直-45°—+5°之间任意角度的入射光束从所述入射窗6入射到所述抛物面反射镜9，经所述抛物面9反射后，延长线经过所述焦点10的光线(如以-45°入射的光线13和以+5°入射的光线14)会平行光轴出射，经所述会聚镜11会聚后到达所述光电探测器4的中心。In this embodiment, the incident light beam at any angle between horizontal 360° and vertical -45°—+5° enters the parabolic reflector 9 from the incident window 6, and after being reflected by the paraboloid 9, the extension line The light rays passing through the focal point 10 (such as the light rays 13 incident at -45° and the light rays 14 incident at +5°) will exit parallel to the optical axis, converge through the converging mirror 11 and reach the center of the photodetector 4 .
实施例三Embodiment three
如图3所示，一种全向点探测器等效光学系统，凸曲面反射镜面型为非球面15，所述非球面反射镜15本身没有焦点但经过面形优化可以有两个等效焦点，即内焦点16和外焦点17。所述外焦点17位置处安装所述光电探测器4，且所述光电探测器4的中心位于所述外焦点17处。所述非球面反射镜15和所述光电探测器4外设有空心柱状的入射窗18。As shown in Figure 3, an omnidirectional point detector equivalent optical system, the surface type of the convex curved mirror is an aspheric surface 15, the aspheric mirror 15 itself has no focal point but can have two equivalent focal points after surface shape optimization , that is, the inner focus 16 and the outer focus 17 . The photodetector 4 is installed at the outer focal point 17 , and the center of the photodetector 4 is located at the outer focal point 17 . The aspheric reflector 15 and the photodetector 4 are provided with a hollow cylindrical incident window 18 .
在本实施例中，所述入射窗18为结构更简化、装配和加工更简单的空心柱状结构，在实施例一和实施例二中延长线能过内焦点的入射光线(如以-45°入射的光线19和以+5°入射的光线20)，不再能会聚于同一焦点。因此在二次曲面反射镜的基础上，利用光学设计软件CODEV将反射镜的二次曲面面形优化为偶次非球面，并在LightTools中设置-45°—+5°之间多个视场，利用LightTools的光线追迹功能结合所述光电探测器4光敏面的位置验证优化结果，最终得到具有所述内焦点16和外焦点17两个等效焦点的所述非球面反射镜15。In this embodiment, the entrance window 18 is a hollow columnar structure with a simpler structure, simpler assembly and processing. In the first and second embodiments, the extended line can pass the incident light of the inner focus (such as at -45° The incident ray 19 and the incident ray 20) at +5° can no longer converge at the same focal point. Therefore, on the basis of the quadric mirror, use the optical design software CODEV to optimize the quadric surface shape of the mirror to an even-order aspheric surface, and set multiple fields of view between -45°—+5° in LightTools , using the ray tracing function of LightTools combined with the position of the photosensitive surface of the photodetector 4 to verify the optimization results, and finally obtain the aspheric mirror 15 with two equivalent focal points of the inner focus 16 and the outer focus 17 .
在本实施例中，在水平360°、垂直-45°—+5°之间任意角度的入射光束经所述空心柱状入射窗18入射到所述非球面反射镜15，经所述非球面反射镜15反射后，只有延长线经过所述焦点16的光线(如以-45°入射的光线21和以+5°入射的光线22)才能到达所述外焦点17处即被所述光电探测器4探测到。In this embodiment, the incident light beam at any angle between horizontal 360° and vertical -45°-+5° enters the aspheric mirror 15 through the hollow cylindrical incident window 18, and is reflected by the aspheric surface. After reflection by the mirror 15, only the rays whose extension line passes through the focal point 16 (such as the rays 21 incident at -45° and the rays 22 incident at +5°) can reach the outer focal point 17 and be detected by the photodetector. 4 detected.
实施例四Embodiment Four
如图5所示，以非球面型反射系统为例介绍一种将系统的垂直探测角度增加到-45°—+45°的结构，即在-45°—+5°探测结构23正上方成对称放置与之完全相同的结构24。As shown in Figure 5, taking the aspheric reflective system as an example, a structure that increases the vertical detection angle of the system to -45°-+45° is introduced, that is, it is formed directly above the -45°-+5° detection structure 23. The exact same structure 24 is placed symmetrically.
在本实施例中，所述探测结构23探测接收垂直-45°—+5°范围内的光束，所述结构24探测接收垂直-5°—+45°范围内光束，整体系统即可探测接收来自水平360°、垂直-45°—+45°范围内的光束。In this embodiment, the detection structure 23 detects and receives light beams within the vertical range of -45°-+5°, the structure 24 detects and receives light beams within the vertical range of -5°-+45°, and the overall system can detect and receive Beams from horizontal 360°, vertical -45°—+45° range.
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