CN108445640A - A kind of coaxial uniform illumination system of relative pose vision measurement sensor - Google Patents
A kind of coaxial uniform illumination system of relative pose vision measurement sensor Download PDFInfo
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- CN108445640A CN108445640A CN201810165803.0A CN201810165803A CN108445640A CN 108445640 A CN108445640 A CN 108445640A CN 201810165803 A CN201810165803 A CN 201810165803A CN 108445640 A CN108445640 A CN 108445640A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
- G02B27/0927—Systems for changing the beam intensity distribution, e.g. Gaussian to top-hat
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/09—Beam shaping, e.g. changing the cross-sectional area, not otherwise provided for
- G02B27/0938—Using specific optical elements
- G02B27/095—Refractive optical elements
- G02B27/0955—Lenses
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/48—Laser speckle optics
Abstract
A kind of coaxial uniform illumination system of relative pose vision measurement sensor selects the multimode semiconductor laser of appropriate luminous power and the angle of divergence first, and optics homogenising system is inputted as input light source, and by the light source couples；Then, it in homogenising system, realizes that laser optical path is turned back, homogenized, shaping, expanding, and the light beam after homogenizing is converged into GRIN Lens one end, uniform is exported from the other end；Finally by the coaxial assembly of the homogenising system and complete machine of miniaturization, the coaxial Uniform Illumination to cooperative target is realized.The present invention, component miniaturization, complete machine can assemble, realize be co-axially mounted with camera lens, the outgoing of high conversion efficiency, the big angle of divergence, light source uniformity is good and the lighting source of spatial distribution stabilization, it is the key component of relative pose vision measurement sensor, it is measured for its high precision position and posture, has established good imaging basis.
Description
Technical field
The present invention relates to a kind of coaxial uniform illumination systems of relative pose vision measurement sensor, belong to space intersection pair
Connect relative pose vision measurement sensor technical field.
Background technology
Relative pose vision measurement sensor, the luminous source system used, there are two types of different schemes, the i.e. annular of LED
The line illumination systems of lighting system and LD.The former designs and realizes relatively easy, (is European Space Agency with the VDM of French Sodern
For ATV and international space station (ISS) docking develop a kind of novel navigation sensor), Japan PXS be that representative is (Japanese
ETS engineering test satellite ETS-VII carries out the navigation sensor used when spacecrafts rendezvous test)；The latter designs and realizes relatively multiple
It is miscellaneous but even better in measurement distance, measurement accuracy, with the AVGS of U.S. MSFC, Chinese second generation intersection measurement subsystem
Relative pose vision measurement sensor with this paper is representative.AVGS is that NASA is independently intersected automatically closely to approach the stage
The navigation sensor for docking a kind of view-based access control model of research, for spacecrafts rendezvous demonstration and verification experiment (DARTN) etc..China second
For intersection measurement subsystem, equal intersection measurements task is arrested for China's SY7 satellite spatials in 2013.
Comparatively the coaxial-illuminating light-source system of similar sensor both domestic and external is designed and is constructed all fairly simple.Than
Such as, the coaxial-illuminating light-source system of U.S. AVGS, because of the advantage on high power LD device, after directly merging multichannel LD
Output, as lighting system, advantage is that design is simple, luminous power is strong, but disadvantage is small light angle, lack of homogeneity, stabilization
Property is poor, Overall Power Consumption is big, directly affects overall measurement precision, this is also its measurement accuracy than relative pose vision measurement sensor
One of the reason of poor an order of magnitude.
For another example, the coaxial-illuminating light-source system of Chinese second generation intersection measurement subsystem, end is with large-numerical aperture
Optical fiber output light source.Since large-numerical aperture fiber bending radius is big, needs certain length that can just homogenize light source, cause to shine
Mingguang City's volume source is big, installation is inconvenient, and stability and reliability is poor.
Disadvantage mentioned above：Light angle is small, lack of homogeneity, stability is poor, volume is big, installation is inconvenient, exactly high precision position and posture
Measure the technical bottleneck of sensor line illumination systems.
Invention content
The technology of the present invention solves the problems, such as：It is quick to overcome the deficiencies of the prior art and provide a kind of relative pose vision measurement
The coaxial Uniform Illumination light-source system of sensor, solves that small light angle, lack of homogeneity, stability are poor, volume is big, installation is inconvenient
The problem of.
The technical scheme is that：
A kind of coaxial uniform illumination system of relative pose vision measurement sensor, including：Laser light source coupling input mould
Block, optics homogenize Shaping Module, coaxial output module；
Laser light source coupling input module：After externally input multiple laser Shu Jinhang couplings, collimationization processing, send
Coupling collimated laser beam homogenizes Shaping Module to optics；
Optics homogenizes Shaping Module：The coupling collimated laser beam that laser light source coupling input module is sent is received, will be coupled
Collimated laser beam speckle is homogenized expands processing with shaping, and the laser beam after shaping is sent to coaxial output module；
Coaxial output module：It receives optics and homogenizes the laser beam after the shaping that Shaping Module inputs, point light is provided to outside
The cone lighting source of source form.
The laser light source coupling input module includes：Coupling interface and collimating mirror；
The coupling interface includes lock pin body and SMA interfaces, and lock pin body one end is plugged with N root external fibers, and N is just whole
Number, the lock pin body other end connect collimating mirror using SMA interfaces；
Coupling interface couples externally input N roots laser beam, and the laser beam after coupling is sent to collimating mirror, collimating mirror
Laser beam datumization after coupling is handled and sends coupling collimated laser beam and homogenizes Shaping Module to optics.
The optics homogenizes Shaping Module：Speckle homogenizes module, shaping expands module；
Speckle homogenizes module：The coupling collimated laser beam that laser light source coupling input module is sent is received, it will be in Gauss point
The coupling collimated laser beam of cloth, the laser beam exits that homogenize for being divided into several beams expand module to shaping；
Shaping expands module：Receive speckle homogenize module transmission homogenize laser beam, it is whole to the angle of divergence for homogenizing laser beam
Shape expands, and obtains the laser beam after shaping, and the laser beam after shaping is sent to coaxial output module.
It further includes that light path is turned back module that the optics, which homogenizes Shaping Module, and light path module of turning back receives speckle and homogenizes module hair
That send homogenizes laser beam, will homogenize laser beam and turns back 90 ° to be emitted and expands module to shaping.
It is differentiator that the speckle, which homogenizes module,；
It is lens group that the shaping, which expands module,.
The angle of divergence for homogenizing laser beam is 18 °.
The lens material of the lens group is ZF6, and lens surface plates full spectral coverage anti-reflection film.
The coaxial output module is self-focus lens.
The light extraction end of the self-focus lens is located at the intersection point of external complete machine camera lens optical axis and external mirror, and self-focus lens
Emergent light optical axis it is vertical with external complete machine camera lens optical axis.
A diameter of 1.8mm of the self-focus lens, long 20mm.
Compared with the prior art, the invention has the advantages that：
1) present invention expands module using shaping, and carrying out shaping to laser lighting light source expands, and realizes the big of 36 ° of full-shape
The illumination of angle solves the contradiction of laser lighting light source operating distance and light angle, is measured for large-scale relative pose
Establish illumination basis.
2) present invention homogenizes module using speckle, and laser lighting light source is remolded and homogenized, and realizes that lighting source is empty
Between be distributed the uniformity and stability of high-quality, solve the problems, such as that imageable target flicker is non-uniform, for high-precision opposite position
Imaging basis is established in appearance measurement.
3) present invention use micro-optics system, realize the reliable installation under narrow mirror assembly, realize with
Complete machine camera lens optical axis is co-axially mounted, and finally realizes laser lighting light-source system small, light-weight, that reliability is high, is high
Precision relative pose measures the key of sensor engineer application.
Description of the drawings
Fig. 1 is relative pose vision measurement sensor complete machine schematic diagram；
Fig. 2 is the coaxial uniform illumination system schematic diagram figure of relative pose vision measurement sensor；
Fig. 3 is laser light source coupling input module diagram；
Fig. 4 is the coaxial uniform illumination system structure chart of relative pose vision measurement sensor；
Fig. 5 is emergent light semi-cone angle and center average irradiance relation schematic diagram.
Specific implementation mode
Specific implementation mode is as described below.
Relative pose vision measurement sensor operation principle is sketched：Sensor is by vision measurement camera and cooperative target group
At luminous source system is the key component of camera.Camera is mounted on tracking aircraft, and target is mounted on target aircraft
On, the imaging by camera to cooperative target carries out image procossing, target identification, pose and calculates, two flights can be calculated
The relative position of device 6DOF and relative attitude angle.
Cooperative target is made of corner reflector, is passive reflective optic component, luminous source system is needed to illuminate it,
And reflected light enters camera and forms target image.The luminous source system of camera, the angle of divergence to be not less than ± 17 ° are in circular cone
Shape uniform irradiation cooperative target, the energy of lighting source is excessively weak, be unevenly distributed or reliability deficiency will all influence sensor
Measurement accuracy and normal work.As shown in Figure 1.
As shown in figure 3, laser light source coupling input component：After the two-in-one coupling of two-way multimode optical fibre laser, formed defeated
Enter light source and be transferred to next stage collimating mirror, collimating mirror is adjusted the angle of divergence for inputting laser, so that two kinds of laser share together
One optics homogenizes shaping component.
Two-way centre wavelength is respectively 850nm and 808nm, numerical aperture 0.22 multimode optical fibre laser, carries out two and closes
One coupling output, output coupling interface meets optics and homogenizes Shaping Module input requirements, specifically as follows：
The optical fiber that two cladding diameters are 125 μm is inserted into certain length and with the lock pin in 250 μm of apertures parallel
In vivo.Lock pin body belongs to high-accuracy processing structural member, appropriate length and rational aperture can it is intact by two optical fiber simultaneously
Row is inserted into lock pin body together, and two optical fiber can be made at parastate.Sealing is carried out using epoxy resin, after the completion of waiting for sealing
It is ground polishing again.Finally lock pin body and connection by metal hose are fixed together using a small lantern ring, connect using SMA
Mouth carries out docking fixation with follow up device collimating mirror by internal thread.
Hereafter, the first successive step of laser beam divergence is realized by collimating mirror, and it is whole to ensure that incident optical energy is homogenized by subsequent optical
Shape component all receives, and energy is not lost.It is specifically as follows：
Collimating mirror：The optical characteristics of incident laser beam is determined by LD multimode fibre performances.Core diameter is 105um, number
It is worth aperture NA=0.22, determines beam divergence angle.Therefore design work wave band is 790nm~880nm (Center wavelength
Beam collimation in certain angle of divergence is constrained, projects the effective coverage that speckle homogenizes module, keep away by optical lens 850nm)
Exempt from the loss of light energy, while homogenizing the effective coverage of module using speckle to greatest extent so that next stage homogenizes best results.
The angle of divergence for adjusting laser beam is collimated laser beam, sends the differentiator that collimated laser beam homogenizes shaping component to optics.
According to the design requirement of optical lens, system structure meet first the clear aperture to optical system, optical interval,
The requirement for the structural parameters such as optics is coaxial, light path is turned back, while also to meet the requirement to space environment adaptability.Optical system
It is made of glass lens, it is to be ensured that glass lens will not be because vibrating and impacting breakage, on the thickness of optical mirror slip and optics
Want reasonable design, lens thickness not only to meet optical performance requirements on gap between eyeglass and lens barrel, but meet space mechanics and
Temperature environment conditions requirement.
Optics homogenizes shaping component, including：Differentiator, lens group and mirror of turning back, as shown in figure 4, optics homogenizes shaping group
The differentiator of part receives the collimated laser beam that laser light source coupling input component is sent, will be in the collimated laser beam of Gaussian Profile point
It is segmented into the light beam that several beam divergence angles are about 18 °, obtains homogenizing laser beam, laser beam will be homogenized and be sent to mirror of turning back.It homogenizes sharp
Light beam is the beamlet that " countless " angle of divergence is about 18 °.This " countless " beamlet, is fused to each other to form new hot spot, to reach
The uniform effect of beam spatial distribution.Corrugated differentiator needs to pay attention to following two points：First, optical characteristics need to be designed with system
Match, especially the angle of divergence of beamlet, cross senior general cause loss of light source or whole system bulky, it is too small will be not achieved it is pre-
Phase homogenizes effect；Second, there is " blind hole " phenomenon in corrugated differentiator " countless " sub-aperture, needs to test in advance and selects meet demand
Differentiator.
In order to avoid entire optical system light path infinitely develops towards optical axis direction, the length and volume of whole system are caused
Increase, so that it cannot after being installed on speculum.Manufacture and design 45 ° of mirrors of turning back, material is K9 glass, and reflectance coating is plated on surface
And protective film ensures that it is accurately positioned and unstressed assembly by accurately processing and crimping mounting means.It, will by mirror of turning back
Light beam after homogenizing is turned back 90 ° and is emitted, to reduce the effective length and volume of whole system；Mirror of turning back receives what differentiator was sent
Laser beam is homogenized, laser beam will be homogenized and turned back 90 °, lens group is transmitted to.
Lens group receive turn back mirror transmission homogenize laser beam, to laser beam divergence shaping, obtain the laser beam after shaping,
Laser beam after shaping is sent to self-focus lens.Lens group is combined by three pieces optical lens, material ZF6, the two-sided plating of lens
Full spectral coverage anti-reflection film.It is combined by multi-disc optical lens, in limited physical space, synthesize beamlet, and
Beam emissions angle adjusts, and weakens laser speckle phenomenon significantly, forms the relatively flat uniform face to be illuminated of mitigation.After finally homogenizing
Beam divergence angle by 6.5 ° of half-angle, expansion is adjusted to 21 ° of half-angle, realizes the tune of lighting source spatial distribution and the angle of divergence
It is whole.
It is expanded above and moves to mirror center over long distances by self-focus lens with homogenized light source, diameter only has
The circular hole channel of 2mm forms and is emitted with the coaxial lighting source of complete machine camera lens.The light extraction end of self-focus lens is located at external complete machine mirror
Head optical axis and external mirror intersection point, it is highly consistent with external complete machine camera lens optical axis, and the emergent light optical axis of self-focus lens with
Camera lens optical axis is vertical.A diameter of 1.8mm of self-focus lens, long 20mm.Using its refractive index gradient Variation Features, input is terminated
The completion received homogenizes the light beam of shaping, by its elongated cylinder, is transmitted to the other end, realizes that the light beam of small space transmits
And outgoing.Elongated self-focus lens are Glass breadks easily material, and installation fixed form need to be paid close attention to.It is that self-focus lens add first
One layer of protective case, i.e., it is self-focus lens are be bonded by inner wall with GD414 silica gel with stainless steel sleeve pipe, make self-focus lens and stainless steel
Sleeve is integrally formed.Self-focus lens with protective case pack tightly mechanism by 4 pawls and glue are auxiliarily fixed, the fixation accurately installed
In system structure.To avoid mount stress from causing reflecting mirror surface shape deformation, self-focus lens mounting means that need to have sequence, torque etc.
It is required that；For realize self-focus lens light extraction end and complete machine camera lens optical axis it is accurate coaxial, assembling process needs trial, test, tune
Whole and sealing etc..
Finally, relative pose vision measurement sensor is homogenized with coaxial uniform illumination device by the LD laser beams of input
After shaping, the Uniform Illumination light source of the index in detail below of formation is emitted：
Emergent light transmits in the circular cone that semi-cone angle is α, α=17 ° ± 1 °；And at semi-cone angle α, outgoing light irradiance with
The relative value of center average irradiance is not less than 25%, as shown in Figure 5.
As shown in Fig. 2, a kind of coaxial uniform illumination system of relative pose vision measurement sensor, including：Laser light source
Coupling input module, optics homogenize Shaping Module, coaxial output module；
Laser light source coupling input module：After externally input multiple laser Shu Jinhang couplings, collimationization processing, send
Coupling collimated laser beam homogenizes Shaping Module to optics；
Optics homogenizes Shaping Module：The coupling collimated laser beam that laser light source coupling input module is sent is received, will be coupled
Collimated laser beam speckle is homogenized expands processing with shaping, and the laser beam after shaping is sent to coaxial output module；
Coaxial output module：It receives optics and homogenizes the laser beam after the shaping that Shaping Module inputs, point light is provided to outside
The cone lighting source of source form, coaxial output module are self-focus lens, and the light extraction end of self-focus lens is located at external complete machine mirror
The intersection point of head optical axis and external mirror, and the emergent light optical axis of self-focus lens is vertical with external complete machine camera lens optical axis.Self-focusing
A diameter of 1.8mm of mirror, long 20mm.
The laser light source coupling input module includes：Coupling interface and collimating mirror；
The coupling interface includes lock pin body and SMA interfaces, and lock pin body one end is plugged with N root external fibers, and N is just whole
Number, the lock pin body other end connect collimating mirror using SMA interfaces；
Coupling interface couples externally input N roots laser beam, and the laser beam after coupling is sent to collimating mirror, collimating mirror
Laser beam datumization after coupling is handled and sends coupling collimated laser beam and homogenizes Shaping Module to optics.
The optics homogenizes Shaping Module：Speckle homogenizes module, shaping expands module；
Speckle homogenizes module：The coupling collimated laser beam that laser light source coupling input module is sent is received, it will be in Gauss point
The coupling collimated laser beam of cloth is divided into the laser beam exits that homogenize that several beam divergence angles are 18 ° and expands module to shaping；Speckle
It is differentiator to homogenize module.
Shaping expands module：Receive speckle homogenize module transmission homogenize laser beam, it is whole to the angle of divergence for homogenizing laser beam
Shape expands, and obtains the laser beam after shaping, and the laser beam after shaping is sent to coaxial output module；Shaping expands module
The lens material of microscope group, lens group is ZF6, and lens surface plates full spectral coverage anti-reflection film.
It further includes that light path is turned back module that the optics, which homogenizes Shaping Module, and light path module of turning back receives speckle and homogenizes module hair
That send homogenizes laser beam, will homogenize laser beam and turns back 90 ° to be emitted and expands module to shaping.
The content that description in the present invention is not described in detail belongs to the known technology of professional and technical personnel in the field.
Claims (10)
1. a kind of coaxial uniform illumination system of relative pose vision measurement sensor, which is characterized in that including：Laser light source coupling
Close input module, optics homogenizes Shaping Module, coaxial output module；
Laser light source coupling input module：After externally input multiple laser Shu Jinhang couplings, collimationization processing, coupling is sent
Collimated laser beam homogenizes Shaping Module to optics；
Optics homogenizes Shaping Module：The coupling collimated laser beam that laser light source coupling input module is sent is received, coupling is collimated
Laser beam speckle is homogenized expands processing with shaping, and the laser beam after shaping is sent to coaxial output module；
Coaxial output module：It receives optics and homogenizes the laser beam after the shaping that Shaping Module inputs, point light source shape is provided to outside
The cone lighting source of formula.
2. a kind of relative pose vision measurement sensor coaxial uniform illumination system, feature according to claim 1
It is, the laser light source coupling input module includes：Coupling interface and collimating mirror；
The coupling interface includes lock pin body and SMA interfaces, and lock pin body one end is plugged with N root external fibers, and N is positive integer, is inserted
The core other end connects collimating mirror using SMA interfaces；
Coupling interface couples externally input N roots laser beam, and the laser beam after coupling is sent to collimating mirror, and collimating mirror is by coupling
Laser beam datumization after conjunction handles and sends coupling collimated laser beam homogenizes Shaping Module to optics.
3. a kind of relative pose vision measurement sensor coaxial uniform illumination system, feature according to claim 1
It is, the optics homogenizes Shaping Module and includes：Speckle homogenizes module, shaping expands module；
Speckle homogenizes module：The coupling collimated laser beam that laser light source coupling input module is sent is received, it will be in Gaussian Profile
Collimated laser beam is coupled, the laser beam exits that homogenize for being divided into several beams expand module to shaping；
Shaping expands module：Receive speckle homogenize module transmission homogenize laser beam, to homogenize laser beam angle of divergence shaping expand
Beam obtains the laser beam after shaping, and the laser beam after shaping is sent to coaxial output module.
4. a kind of relative pose vision measurement sensor coaxial uniform illumination system, feature according to claim 3
It is：It further includes that light path is turned back module that the optics, which homogenizes Shaping Module, and light path module of turning back receives speckle and homogenizes module transmission
Homogenize laser beam, laser beam will be homogenized turn back 90 ° to be emitted and expand module to shaping.
5. a kind of relative pose vision measurement sensor coaxial uniform illumination system, feature according to claim 3
It is：
It is differentiator that the speckle, which homogenizes module,；
It is lens group that the shaping, which expands module,.
6. a kind of relative pose vision measurement sensor coaxial uniform illumination system, feature according to claim 3
It is：The angle of divergence for homogenizing laser beam is 18 °.
7. a kind of relative pose vision measurement sensor coaxial uniform illumination system, feature according to claim 5
It is：The lens material of the lens group is ZF6, and lens surface plates full spectral coverage anti-reflection film.
8. according to a kind of any coaxial uniform illumination systems of relative pose vision measurement sensor of claim 1-7,
It is characterized in that：
The coaxial output module is self-focus lens.
9. a kind of relative pose vision measurement sensor coaxial uniform illumination system, feature according to claim 8
It is：The light extraction end of the self-focus lens is located at the intersection point of external complete machine camera lens optical axis and external mirror, and self-focus lens
Emergent light optical axis is vertical with external complete machine camera lens optical axis.
10. a kind of relative pose vision measurement sensor coaxial uniform illumination system, feature according to claim 9
It is：A diameter of 1.8mm of the self-focus lens, long 20mm.
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