CN108957471A - Three-dimension measuring system based on FM-CW laser ranging - Google Patents
Three-dimension measuring system based on FM-CW laser ranging Download PDFInfo
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- CN108957471A CN108957471A CN201810647638.2A CN201810647638A CN108957471A CN 108957471 A CN108957471 A CN 108957471A CN 201810647638 A CN201810647638 A CN 201810647638A CN 108957471 A CN108957471 A CN 108957471A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses the three-dimension measuring systems based on FM-CW laser ranging.Currently based on the low measurement accuracy of the three-dimension measuring system of impulse method and Laser Range Finding Based on Phase principle.The present invention increases laser beam spot sizes by beam expanding lens to illuminate region to be measured, in target object surface diffusing reflection occurs for laser, the echo light of generation, which is received after camera lens receives, enters polarization spectroscope, difference frequency interference occurs with polarization reference light, the interference signal of generation is received by photodetector array；The optical frequency intervals method for resampling such as use carries out double sampling to the interference signal of each pixel of photodetector array later, and the high-precision range information of each pixel of photodetector array is calculated；The practical two-dimensional coordinate of target range each point to be measured is obtained in conjunction with photodetector array Pixel Dimensions and enlargement ratio, then in conjunction with range data, realizes the high-precision 3-d laser measurement of a certain range.Range accuracy of the present invention is high, and structure is simple, and measurement range is wide.
Description
Technical field
The invention belongs to 3-d laser measurement technical fields, and in particular to three based on FM-CW laser ranging principle
Tie up measuring system.
Background technique
In the fields such as three-dimensional precise fields of measurement, especially space flight, military affairs, machine vision and mapping, it is often necessary to obtain
The three-dimensional information of target object, identification and detection for object.3-d laser measurement technology has precision higher, measurement range
The advantages that relatively wide and non-contact measurement, it can satisfy the three-dimensional measurement needs in the fields such as military and industry.Currently based on pulse
The low measurement accuracy of the three-dimension measuring system of method and Laser Range Finding Based on Phase principle is unable to satisfy the application of field of precision measurement
Demand.Therefore it is very necessary that how research, which carries out three-dimensional measurement using the higher interferometry ranging of range accuracy,.
The principle of FM-CW laser ranging is that tunable laser generates optical frequency by linear modulation (triangular wave tune
System) continuous laser, by generating beat signal after interfering after michelson interferometer optical path, to beat signal carry out time-frequency
Transformation obtains the frequency f of beat signald, and then measurement distance L is calculated, uncertainty of measurement can achieve 5 × 10-6L rank.
FM-CW laser ranging formula is
In formula, n is air refraction, and B is laser optical frequency linear modulation range, TmFor the modulation period of laser, c is
The light velocity in vacuum.
Since the modulation linearity degree of existing tunable laser is poor, the reduction of range accuracy and resolution ratio will lead to.
If can using etc. method more pixel beat signals that detector array is obtained of optical frequency intervals resampling carry out double sampling, from
And laser modulation non-linear effects are compensated, just it is able to achieve the depth measurement of higher precision.It is presented in Fig. 1 use etc.
The most basic system structure scheme of the FM-CW laser ranging of optical frequency interval method for resampling.
Summary of the invention
In view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of three-dimensionals based on FM-CW laser ranging
Measuring system increases laser beam spot sizes by beam expanding lens to illuminate region to be measured, and laser occurs unrestrained anti-in target object surface
It penetrates, the echo light of generation, which is received after camera lens receives, enters polarization spectroscope, difference frequency interference occurs with polarization reference light, generation
Interference signal is received by photodetector array.Later using etc. optical frequency intervals method for resampling it is each to photodetector array
The interference signal of pixel carries out double sampling, and the high-precision distance letter of each pixel of photodetector array is calculated
Breath.The practical two-dimensional coordinate of target range each point to be measured is obtained in conjunction with photodetector array Pixel Dimensions and enlargement ratio,
Then in conjunction with range data, the high-precision 3-d laser measurement of a certain range is realized.
The present invention includes tunable laser, the first coupler, the road A laser system, the road C laser system, the road D laser system
System, polarization spectroscope, polarizing film, APD array, data collection system, host computer and laser controller；The road the A laser
System and the road D laser system constitute three-dimensional measurement optical interference circuit；The road C laser system is auxiliary optical interference circuit.Described is tunable
Laser controls start and stop by laser controller；It is linear past within the scope of 1520nm~1560nm that tunable laser issues wavelength
The linearly polarized laser changed again, the modulation period of tunable laser the value in 2~2.5s.Linearly polarized laser enters the first coupling
It is divided into A, B two-way after clutch.
In the laser system of the road A, the road A laser passes through the first half-wave plate after expanding by the first beam expanding lens again, illuminates mesh later
Mark surface.The echo light that laser is reflected through target surface is received camera lens reception；The emergent light of camera lens is received by polarization point
Light microscopic reflection.
The road B laser is divided into C, D two-way by the second coupler.In the laser system of the road C, the road C laser passes through third coupling first
Clutch is divided into two-way, wherein all the way laser by time delay optical fiber, then this two-way laser enter the 4th coupler converge into it is a branch of after
Difference frequency interference occurs, the interference signal that the 4th coupler issues is received by high-speed photodetector.In the laser system of the road D, the road D is swashed
Light enters polarization spectroscope by the second half-wave plate again after expanding by the second beam expanding lens, occurs on polarization spectroscope saturating
It penetrates.
Transmission laser on polarization spectroscope converges with the echo laser reflected on polarization spectroscope.After converging
Polarization direction is adjusted to the projected polarisation direction of polarizing film by polarizing film by two beam laser, finally receives two beams by APD array
The interference signal that laser generates.
High-speed photodetector and APD array are received by the electric signal that photoelectric conversion generates by data collection system.Number
Electrical signal data is transmitted to host computer according to acquisition system.Laser controller is by PC control.
Further, A, B two-way laser splitting ratio is 90:10, and C, D two-way laser splitting ratio are 50:50.
Further, the 3 d measurement data measurement process of target surface, specific as follows:
(1) interference signal obtained in host computer using auxiliary optical interference circuit interferes three-dimensional measurement as time reference
The interference signal of each pixel is sampled respectively in optical path, to the optical frequencies sampled signal such as obtain.
(2) host computer to each pixel etc. optical frequencies sampled signal carry out time-frequency conversion, obtain each pixel etc.
The frequency f of optical frequency sampled signald, the range data of corresponding pixel points is then obtained according to FM-CW laser ranging formula.
(3) by averaging to all range data, obtain object distance υ, but receive camera lens and polarization spectroscope away from
From being fixed, distance, that is, image distance u, according to optics convex lens imaging formula, the estimation focal length f for receiving camera lens is obtained.Optics
Convex lens formula is as follows:
The focal length f for receiving camera lens is adjusted according to fsUntil host computer receives resolution ratio in the image of 256*256 or more.Root
According to image distance u and focal length fsEnlargement ratio A is calculated, enlargement ratio formula is as follows:
Enlargement ratio A is the ratio of imaging size and object actual size of the object by reception camera lens on focal plane,
Therefore the ratio of the two dimensional image size and enlargement ratio A that obtain on APD array is exactly the practical two-dimentional ruler of measurement range
It is very little, in conjunction with the single pixel spot size size of APD array, obtain the two-dimensional coordinate information of each point within the scope of target measurement.
(4) the three-dimensional of target surface is obtained according to the range data of two-dimensional coordinate information and respective coordinates in host computer to survey
Measure data.
The invention has the benefit that
The present invention devises the three-dimension measuring system using FM-CW laser ranging principle, can measure larger range
Target surface three-dimensional information, cardinal principle is surveyed by the FM-CW laser ranging and two-dimensional visual of multiple pixels
It measures and measures body surface three-dimensional coordinate value, compared to conventional laser three-dimensional measurement and scanning type laser three-dimensional measurement, have
The advantage that range accuracy is high, structure is simple and measurement range is wider.
Detailed description of the invention
Fig. 1 is FM-CW laser ranging schematic illustration；
Fig. 2 is system principle schematic diagram of the invention；
In figure: 1, tunable laser, the 2, first coupler, the 3, first beam expanding lens, the 4, first half-wave plate, 5, target, 6,
Second coupler, the 7, second beam expanding lens, the 8, second half-wave plate, 9, polarization spectroscope, 10, reception camera lens, 11, polarizing film, 12,
APD array (avalanche photodiode array), 13, third coupler, 14, time delay optical fiber, the 15, the 4th coupler, 16, high-speed light
Electric explorer, 17, data collection system, 18, host computer, 19, laser controller.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing.
As shown in Fig. 2, the three-dimension measuring system based on FM-CW laser ranging, including tunable laser 1, first
Coupler 2, the road A laser system, the road C laser system, the road D laser system, polarization spectroscope 9, polarizing film 11, APD array 12, number
According to acquisition system 17, host computer 18 and laser controller 19；Tunable laser 1 controls start and stop by laser controller 19.
Tunable laser 1 issues the linearly polarized laser that wavelength linearly back and forth changes within the scope of 1520nm~1560nm, tunable to swash
The modulation period of light device 1 value in 2~2.5s.Linearly polarized laser is divided into A, B two-way (A, B two-way after entering the first coupler 2
Splitting ratio is 90:10).
In the laser system of the road A, the road A laser passes through the first half-wave plate 4 after expanding by the first beam expanding lens 3, illuminates mesh later
Mark 5 surfaces.The echo light that laser is reflected through 5 surface of target is received the reception of camera lens 10；Receive the emergent light quilt of camera lens 10
Polarization spectroscope 9 reflects.First beam expanding lens 3 is used to increase the diameter of laser beam, illuminates 5 object of target region to be measured.It expands
Polarization laser afterwards enters the first half-wave plate 4, by rotating the first half-wave plate 4, so that entering polarization spectro from camera lens 10 is received
The echo light of mirror 9 can be fully reflective on polarization spectroscope 9, reduces and swashs light transmissive energy loss.The road B laser passes through the
Two couplers 6 divide for C, D two-way (C, D two-way splitting ratio are 50:50), and the road A and the road D are three-dimensional measurement optical interference circuit, supplemented by the road C
Help optical interference circuit.
In the laser system of the road C, the road C laser passes through third coupler 13 first and divides for two-way, wherein laser is by prolonging all the way
When optical fiber 14, then this two-way laser enter the 4th coupler 15 converge into it is a branch of after occur difference frequency interference, the 4th coupler 15 hair
Interference signal out is received by high-speed photodetector 16.Wherein, the first coupler 2, the second coupler 6 and third coupler 13
Realize the branch of laser optical path in optical fiber, the 4th coupler 15 realizes the combining of laser optical path in optical fiber.Time delay optical fiber 14 is to use
In the optical path difference for increasing auxiliary optical interference circuit, because only that when the frequency that auxiliary optical interference circuit detects to obtain interference signal is greater than three
When dimension measures twice of the maximum frequency that each pixel detects interference signal on APD array 12 in optical interference circuit, Cai Nengman
Sufficient sampling thheorem could carry out double sampling to the interference signal that each pixel detects.
In the laser system of the road D, the road D laser enters polarization by the second half-wave plate 8 after expanding by the second beam expanding lens 7 and divides
Light microscopic 9 is transmitted by polarization spectroscope 9.Polarization laser after second beam expanding lens 7 expands enters the second half-wave plate 8, passes through rotation the
Two half-wave plates 8 enable the laser into polarization spectroscope 9 wholly transmissive on polarization spectroscope 9, reduce laser reflection
Energy loss.Transmission laser on polarization spectroscope 9 converges with the echo laser reflected on polarization spectroscope 9.But
It is that can not be interfered at this time since the polarization direction of two beam laser is orthogonal.Two beam laser after converging pass through polarizing film
11 are adjusted to polarization direction in the projected polarisation direction of polarizing film, finally receive the interference that two beam laser generate by APD array 12
Signal.Wherein, the second beam expanding lens 7 is used to increase the diameter of laser beam, reference light needed for providing interference；APD array 12 by
Multiple single pixel avalanche photodide compositions, can be converted to telecommunications for optical signal received by pixel each in array
Number.
High-speed photodetector 16 and APD array 12 are connect by the electric signal that photoelectric conversion generates by data collection system 17
It receives.Electrical signal data is transmitted to host computer 18 by data collection system 17.Laser controller 19 is controlled by host computer 18.
The interference signal obtained in host computer 18 using auxiliary optical interference circuit interferes three-dimensional measurement as time reference
The interference signal of each pixel is sampled respectively in optical path, then is equivalent to each pixel measured to three-dimensional measurement optical interference circuit
The interference signal of point carries out the sampling of equal optical frequency intervals, to the optical frequencies sampled signal such as obtain, eliminates tunable laser 1
Influence of the Modulation and Nonlinear to range accuracy and resolution ratio.
Host computer 18 to each pixel etc. optical frequencies sampled signal carry out time-frequency conversion, obtain the light such as each pixel
The frequency f of frequency sampling signald, the range data of corresponding pixel points is then obtained according to FM-CW laser ranging formula.
By averaging to range data obtained above, object distance υ is obtained, and receive camera lens 10 and polarization spectroscope 9
Distance be fixed, distance, that is, image distance u, according to optics convex lens imaging formula, obtain the estimation focal length for receiving camera lens 10
f.Estimation focal length f be in order to quickly determine receive camera lens 10 real focal length, enable APD array 12 obtain clearly as.
Optics convex lens imaging formula is as follows:
The focal length f for receiving camera lens 10 is adjusted according to fsUntil host computer 18 receives resolution ratio in the figure of 256*256 or more
Picture.According to image distance u and focal length fsEnlargement ratio A is calculated, enlargement ratio formula is as follows:
Enlargement ratio A is the ratio of imaging size and object actual size of the object by reception camera lens 10 on focal plane
Value, therefore the ratio of the two dimensional image size obtained on APD array 12 and enlargement ratio A are exactly practical the two of measurement range
It ties up size and obtains two of each point in 5 measurement range of target in conjunction with the single pixel spot size size of known APD array 12
Tie up coordinate information.
The three-dimensional of 5 surface of target is obtained according to the range data of two-dimensional coordinate information and respective coordinates in host computer 18 to survey
Measure data.
Although above in conjunction with attached drawing, invention has been described, and the invention is not limited to above-mentioned specific implementations
Mode, the above mentioned embodiment is only schematical, rather than restrictive, and those skilled in the art are at this
Under the enlightenment of invention, without deviating from the spirit of the invention, many variations can also be made, these belong to of the invention
Within protection.
Claims (3)
1. the three-dimension measuring system based on FM-CW laser ranging, including tunable laser, the first coupler, the road A swash
Photosystem, the road C laser system, the road D laser system, polarization spectroscope, polarizing film, APD array, data collection system, host computer
And laser controller, it is characterised in that: the road the A laser system and the road D laser system constitute three-dimensional measurement optical interference circuit；
The road C laser system is auxiliary optical interference circuit；The tunable laser controls start and stop by laser controller；Tunable laser
Device issues the linearly polarized laser that wavelength linearly back and forth changes within the scope of 1520nm~1560nm, the modulation week of tunable laser
Phase value in 2~2.5s；Linearly polarized laser is divided into A, B two-way after entering the first coupler；
In the laser system of the road A, the road A laser passes through the first half-wave plate after expanding by the first beam expanding lens again, illuminates object table later
Face；The echo light that laser is reflected through target surface is received camera lens reception；The emergent light of camera lens is received by polarization spectroscope
Reflection；
The road B laser is divided into C, D two-way by the second coupler；In the laser system of the road C, the road C laser passes through third coupler first
It is divided into two-way, wherein laser is by time delay optical fiber all the way, then this two-way laser converges into a branch of rear generation into the 4th coupler
Difference frequency interference, the interference signal that the 4th coupler issues are received by high-speed photodetector；In the laser system of the road D, the road D laser is logical
It crosses after the second beam expanding lens expands and polarization spectroscope is entered by the second half-wave plate again, transmitted on polarization spectroscope；
Transmission laser on polarization spectroscope converges with the echo laser reflected on polarization spectroscope；Two beams after converging
Polarization direction is adjusted to the projected polarisation direction of polarizing film by polarizing film by laser, finally receives two beam laser by APD array
The interference signal of generation；
High-speed photodetector and APD array are received by the electric signal that photoelectric conversion generates by data collection system；Data are adopted
Electrical signal data is transmitted to host computer by collecting system；Laser controller is by PC control.
2. the three-dimension measuring system according to claim 1 based on FM-CW laser ranging, it is characterised in that: described
A, B two-way laser splitting ratio be 90:10, C, D two-way laser splitting ratio be 50:50.
3. the three-dimension measuring system according to claim 1 based on FM-CW laser ranging, it is characterised in that: target
The 3 d measurement data measurement process on surface, specific as follows:
(1) interference signal obtained in host computer using auxiliary optical interference circuit is as time reference to three-dimensional measurement optical interference circuit
In the interference signal of each pixel sampled respectively, to the optical frequencies sampled signal such as obtain；
(2) host computer to each pixel etc. optical frequencies sampled signal carry out time-frequency conversion, obtain the optical frequencies such as each pixel
The frequency f of sampled signald, the range data of corresponding pixel points is then obtained according to FM-CW laser ranging formula；
(3) by averaging to all range data, object distance υ is obtained, and receive camera lens to be at a distance from polarization spectroscope
Fixed, the distance, that is, image distance u obtains the estimation focal length f for receiving camera lens according to optics convex lens imaging formula；Optics convex lens
Mirror imaging formula is as follows:
The focal length f for receiving camera lens is adjusted according to fsUntil host computer receives resolution ratio in the image of 256*256 or more；According to picture
Away from u and focal length fsEnlargement ratio A is calculated, enlargement ratio formula is as follows:
Enlargement ratio A is the ratio of imaging size and object actual size of the object by reception camera lens on focal plane, therefore
The ratio of the two dimensional image size and enlargement ratio A that obtain on APD array is exactly the practical two-dimensional of measurement range, knot
The single pixel spot size size for closing APD array, obtains the two-dimensional coordinate information of each point within the scope of target measurement；
(4) the three-dimensional measurement number of target surface is obtained according to the range data of two-dimensional coordinate information and respective coordinates in host computer
According to.
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| CN110045344A (en) * | 2019-05-24 | 2019-07-23 | 西安电子科技大学 | For the low sampling rate equivalent simulation method and system for going oblique linear frequency modulation echo-signal |
| CN111812665A (en) * | 2020-07-09 | 2020-10-23 | 金华市蓝海光电技术有限公司 | Pulse and phase integrated laser ranging device |
| CN113281768A (en) * | 2021-04-08 | 2021-08-20 | 杭州巨星科技股份有限公司 | Laser measuring system |
| CN113295777A (en) * | 2021-04-07 | 2021-08-24 | 聚融医疗科技(杭州)有限公司 | Method and system for improving harmonic imaging performance based on lens echo |
| CN113794826A (en) * | 2021-09-28 | 2021-12-14 | 浙江科技学院 | Light intensity modulation interference method and system for accurately pointing laser interference |
| CN114514409A (en) * | 2019-10-18 | 2022-05-17 | 三菱电机株式会社 | Optical distance measuring device and processing device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110045344A (en) * | 2019-05-24 | 2019-07-23 | 西安电子科技大学 | For the low sampling rate equivalent simulation method and system for going oblique linear frequency modulation echo-signal |
| CN114514409A (en) * | 2019-10-18 | 2022-05-17 | 三菱电机株式会社 | Optical distance measuring device and processing device |
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| CN111812665A (en) * | 2020-07-09 | 2020-10-23 | 金华市蓝海光电技术有限公司 | Pulse and phase integrated laser ranging device |
| CN113295777A (en) * | 2021-04-07 | 2021-08-24 | 聚融医疗科技(杭州)有限公司 | Method and system for improving harmonic imaging performance based on lens echo |
| CN113295777B (en) * | 2021-04-07 | 2023-04-28 | 聚融医疗科技(杭州)有限公司 | Method and system for improving harmonic imaging performance based on lens echo |
| CN113281768A (en) * | 2021-04-08 | 2021-08-20 | 杭州巨星科技股份有限公司 | Laser measuring system |
| CN113794826A (en) * | 2021-09-28 | 2021-12-14 | 浙江科技学院 | Light intensity modulation interference method and system for accurately pointing laser interference |
| CN117269949A (en) * | 2023-11-22 | 2023-12-22 | 深圳市中图仪器股份有限公司 | Method and device for expanding frequency modulation continuous wave ranging range |
| CN117269949B (en) * | 2023-11-22 | 2024-02-13 | 深圳市中图仪器股份有限公司 | Method and device for expanding frequency modulation continuous wave ranging range |
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