CN109342758B - Speed measuring sensor - Google Patents
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- CN109342758B CN109342758B CN201811372037.1A CN201811372037A CN109342758B CN 109342758 B CN109342758 B CN 109342758B CN 201811372037 A CN201811372037 A CN 201811372037A CN 109342758 B CN109342758 B CN 109342758B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a speed measuring sensor, which comprises a laser, a triangular reflector, a prism, a refractor and a photoelectric detector: the laser emits laser beams, the laser beams are incident to a first reflecting surface of the triangular reflecting mirror, the laser beams are reflected by the first reflecting surface and then are incident to a second reflecting surface, the reflecting mirror receives the laser beams reflected by the second reflecting surface and reflects the laser beams to the prism, the prism refracts the laser beams reflected by the reflecting mirror and transmits the laser beams out, and the refracting mirror is used for receiving the laser beams transmitted from the prism and refracting the laser beams; and the photoelectric detector is used for receiving the laser beam refracted by the refractor and measuring the incident position of the laser beam. According to the invention, through the arrangement of the refractor, the angle of incidence of the light beam to the photoelectric detector is reduced, the measurement stability of the photoelectric detector is improved, and the measurement accuracy of the sensor is further improved according to the triangular relationship.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a speed measuring sensor.
Background
In recent years, with the advent of semiconductor lasers and photodetectors, laser triangulation has become possible and widely used. Laser triangulation is based on triangular wave optics and a high-precision PSD (Position Sensitive Device, position sensitive) detector, wherein when an object runs in small amplitude, the object is amplified by an optical triangle, and the object runs horizontally and the distance is amplified on a photoelectric detector (PSD), so that high-precision running or speed measurement is realized in a small range. The doppler effect is a phenomenon in which when there is relative motion between the wave source and the observer, the frequency at which the observer receives the wave is not the same as the frequency at which the wave source emits, and therefore, velocity measurement can be performed using the doppler effect. The speed sensor in the prior art, for example, application number 201810707860.7, is named as the speed sensor based on doppler effect, the calibration method and the measurement method thereof, the measurement principle and the structure are shown in fig. 3, the measurement accuracy of the speed sensor is related to the incident angle of the PSD, and the measurement accuracy is easily affected, that is, when the incident angle of the laser beam incident on the PSD increases, the measurement accuracy of the PSD itself decreases.
Disclosure of Invention
The invention aims to provide a speed measuring sensor.
In order to achieve the above object, the present invention provides the following technical solutions:
a tachometer sensor comprising:
the triangular reflector capable of synchronously moving along with the measured object comprises a first reflecting surface and a second reflecting surface;
the laser beam is incident to the first reflecting surface of the triangular reflecting mirror, reflected by the first reflecting surface and then is incident to the second reflecting surface;
a reflector for receiving the laser beam reflected by the second reflecting surface and reflecting the laser beam to the prism;
the prism is used for refracting the laser beam reflected by the reflector and transmitting the laser beam;
a refractive mirror for receiving the laser beam transmitted from the prism and refracting the laser beam;
the photoelectric detector is used for receiving the laser beam refracted by the refractor and measuring the incident position of the laser beam;
and the processing system is used for calculating the running quantity of the measured object according to the incident position change quantity of the laser received by the photoelectric detector.
In a further aspect, the refractor is attached to the photodetector. Preventing the laser from refraction again to cause measurement errors.
In a further aspect, the laser is P polarized light. The intensity of laser entering the photoelectric detector through refraction is increased, and the proportion of incident light reflected by the refraction mirror is reduced.
In a further aspect, the incident end face of the refractive mirror forms an included angle smaller than 45 ° with the light beam incident to the refractive mirror.
In a further scheme, the triangular reflecting mirror is attached to the measured object, and the triangular reflecting mirror moves along with the movement of the measured object. The triangular reflector is directly fixed on the measured object, so that the purpose of changing the relative positions of the wave source and the observer can be achieved, and the reflected laser synchronously moves along with the movement of the measured object.
In a further scheme, the included angle between the first reflecting surface and the second reflecting surface of the triangular reflecting mirror is a right angle. When the included angle between the first reflecting surface and the second reflecting surface is right angle, the incident light rays entering the first reflecting surface are parallel to the emergent light rays from the second reflecting surface, so that the arrangement of all parts in the system is facilitated, the whole structure is miniaturized as much as possible, and the speed calculation of the measured object is also facilitated.
In a further aspect, the prism includes a first prism face and a second prism face, the laser beam reflected by the reflector is incident on the first prism face of the prism, and is refracted, and when the refracted laser beam is incident on the second prism face, the second prism face refracts the laser beam again, and the laser beam is emitted from the second prism face.
Meanwhile, the invention also provides another speed measuring sensor, which comprises:
the triangular reflector capable of synchronously moving along with the measured object comprises a first reflecting surface and a second reflecting surface, wherein the included angle between the first reflecting surface and the second reflecting surface is a right angle;
the laser beam is incident to the first reflecting surface of the triangular reflecting mirror, reflected by the first reflecting surface and then is incident to the second reflecting surface;
the prism is used for refracting the laser beam reflected by the second reflecting surface and transmitting the laser beam out;
a refractive mirror for receiving the laser beam transmitted from the prism and refracting the laser beam;
the photoelectric detector is used for receiving the laser beam refracted by the refractor and measuring the incident position of the laser beam;
and the processing system is used for calculating the speed of the measured object according to the incident position change of the laser received by the photoelectric detector.
In a further aspect, the refractor is attached to the photodetector. Preventing the laser from refraction again to cause measurement errors.
In a further aspect, the laser is P polarized light. The intensity of laser entering the photoelectric detector through refraction is increased, and the proportion of incident light reflected by the refraction mirror is reduced.
In a further aspect, the incident end face of the refractive mirror forms an included angle smaller than 45 ° with the light beam incident to the refractive mirror.
Compared with the prior art, the speed measuring sensor provided by the invention has the beneficial effects that:
through the setting of refracting mirror for when increasing the speed sensor magnification, reduce the angle that the light beam was incident to corresponding photodetector, in other words can increase the magnification of sensor.
The P polarized light is used as an incident light beam, so that the intensity of laser light entering the photoelectric detector through refraction is increased, the proportion of incident light reflected by the refraction mirror is reduced, in other words, the requirement of the system on the incident intensity of the light beam can be reduced.
Through the effect of the refractor, the laser with a large incidence angle is refracted and then is incident to the PSD with a small angle, so that the measurement stability of the PSD is improved, and the measurement accuracy of the sensor is further improved according to the triangular relation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a speed sensor provided in embodiment 1 of the present invention.
Fig. 2 is a schematic structural diagram of a tachometer sensor provided in embodiment 2 of the present invention.
Fig. 3 is a schematic structural diagram of a speed sensor in the prior art.
Description of the drawings
The laser device comprises a laser device 1, a laser beam 2, an object 3 to be measured, a triangular reflector 4, a reflector 5, a prism 6, a photoelectric detector 7, a first reflecting surface 8, a second reflecting surface 9, a first prism surface 10, a second prism surface 11 and a refracting mirror 12.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
Examples
Referring to fig. 1, the present embodiment schematically discloses a tachometer sensor, which comprises a laser 1, a triangular reflecting mirror 4, a reflecting mirror 5, a prism 6, a photodetector 7, and a refractive mirror 12, wherein the triangular reflecting mirror 4 comprises a first reflecting surface 8 and a second reflecting surface 9, and the triangular reflecting mirror 4 is attached to an object 3 to be measured, and the prism 6 comprises a first prism surface 10 and a second prism surface 11.
In the speed sensor, the following components are arranged:
the laser 1 is used for emitting a laser beam 2, the laser beam 2 is incident to the first reflecting surface 8 of the triangular reflecting mirror 4, and is reflected by the first reflecting surface 8 and then is incident to the second reflecting surface 9; after receiving the laser beam reflected by the second reflecting surface 9, the reflector 5 reflects the laser beam and makes the laser beam incident on the first prism surface 10 of the prism 6, the first prism surface 10 refracts the incident laser beam 2 and makes the incident laser beam incident on the second prism surface 11, the second prism surface refracts the laser beam 2 again and emits the laser beam, the refracting mirror 12 receives the laser beam 2 emitted by the second prism surface 11 and refracts the laser beam 2, and the photodetector 7 receives the laser beam 2 refracted by the refracting mirror 12 and measures the incident position thereof. And the processing system is used for calculating the running speed of the measured object according to the incidence position change of the laser beam 2 received by the photoelectric detector 7.
The doppler shift formula is as follows:
the frequency relationship between the observer and the emission source is shown in equation 1:
f' is the observed frequency;
f is the original emission frequency from which the emission originated in the medium;
v is the speed of travel of the wave in the medium;
V 0 for the moving speed of the observer, if the observer approaches the emission source, the front operation symbol is +number, and if the observer approaches the emission source, the front operation symbol is-number;
V s for the moving speed of the emission source, if the emission source is close to the observer, the forward operation symbol is the-number, otherwise, the forward operation symbol is the +number.
For the present invention, if the laser emission source is stationary, the doppler shift formula can be simplified as formula 2:
。
the invention provides a calibration method for position variation and movement speed because the refractive index of an optical material and the wavelength of light belong to nonlinear relations. The method comprises the following steps:
step one: setting a triangular reflector on the measured object, so that the triangular reflector can synchronously run with the measured object;
step two: the position relation of the laser, the triangular reflector, the prism, the refracting mirror and the photoelectric detector is adjusted, so that the laser beam emitted by the laser is incident to the first reflecting surface of the triangular reflector, reflected by the second reflecting surface and then incident to the reflector, reflected by the reflector to the prism, transmitted by the prism and then received by the refracting mirror, and the photoelectric detector receives the laser beam refracted by the refracting mirror and measures the incident position of the laser beam;
step three: given speeds V1, V2 and V3 … Vn, the position change quantity of the photoelectric detector under the corresponding speeds is recorded, and a formula and/or a relation curve of the speeds and the position change quantity of the photoelectric detector is obtained through nonlinear fitting. When the position change quantity on the photoelectric detector is measured by the speed measuring sensor, the movement speed of the measured object can be obtained by a relation curve or formula obtained by calibration.
As shown in fig. 1, the arrow direction is the running (moving) direction of the object to be measured and the triangular mirror, and in addition, the photoelectric sensor 7 adopts PSD, the laser beam 2 before running, the object to be measured 3, and the triangular mirror 4 are indicated by solid lines, the laser beam 2 after running, the object to be measured 3, and the triangular mirror 4 are indicated by broken lines, and the transmission path of the laser beam 2 is as follows:
before operation, the laser 1 emits a laser beam 2, the laser beam 2 is incident on the first reflecting surface 8 of the triangular reflecting mirror 4, and is reflected by the first reflecting surface 8 and then is incident on the second reflecting surface 9; the reflector 5 receives the laser beam 2 reflected by the second reflecting surface 9 and reflects the laser beam 2 to the first prism surface 10 of the prism 6, the first prism surface 10 refracts the laser beam 2 and makes the laser beam incident on the second prism surface 11, the second prism surface 11 refracts the laser beam 2 again and makes the laser beam incident on the refracting mirror 12, the refracting mirror 12 refracts the laser beam and makes the laser beam incident on the photodetector 7, and the photodetector 7 receives the laser beam 2 refracted by the refracting mirror 12 and measures the incident position thereof, which is referred to as a first incident position.
After operation (the object to be measured is operated in a direction approaching or separating from the laser, only the case of operation in the direction approaching the laser is shown in fig. 1), the laser 1 emits a laser beam 2, the laser beam 2 is incident on the first reflecting surface 8 of the triangular reflecting mirror 4, and is reflected by the first reflecting surface 8 and then is incident on the second reflecting surface 9; the reflector 5 receives the laser beam 2 reflected by the second reflecting surface 9 and reflects the laser beam 2 to the first prism surface 10 of the prism 6, the first prism surface 10 refracts the laser beam 2 and makes the laser beam incident on the second prism surface 11, the second prism surface 11 refracts the laser beam 2 again and makes the laser beam incident on the refracting mirror 12, the refracting mirror 12 refracts the laser beam and makes the laser beam incident on the photodetector 7, and the photodetector 7 receives the laser beam 2 refracted by the refracting mirror 12 and is referred to as a second incident position.
The position variation of the incident light can be obtained according to the first incident position and the second incident position, and the speed of the measured object can be calculated by combining the formula.
It is easy to understand that when the included angle between the incident light and the receiving surface of the photoelectric detector is too small, the light spot of the incident light can shift the center of gravity, and the measurement accuracy of the photoelectric detector is affected. Through the setting of refracting mirror for when increasing the magnification of speed sensor, reduce the angle that the light beam was incident to photoelectric detector, not only improved PSD measurement stability, according to the triangle relation, speed sensor's measurement accuracy obtains further improving moreover. In the scheme, in order to avoid the influence on the measurement accuracy caused by the fact that the laser beam refracted by the refractor is refracted again, the refractor is attached to the photoelectric detector.
In this scheme, the incident end face of the refractor forms an included angle smaller than 45 degrees with the laser beam incident to the refractor.
Meanwhile, the laser beam 2 is P polarized light. By adopting polarized light, the intensity of the light beam entering the photoelectric detector through refraction is increased, the reflectivity of the light beam when the light beam enters the refraction mirror at a large incident angle is reduced, the proportion of the incident light reflected by the refraction mirror is reduced, in other words, the requirement of the system on the incident intensity of the light beam can be reduced.
As a preferred embodiment, the angle between the first reflecting surface 8 and the second reflecting surface 9 is a right angle. It is easy to understand that the setting of the angle between the first reflecting surface 8 and the second reflecting surface 9 as a right angle is to facilitate the arrangement of each component, reduce the size of the whole device as much as possible, and facilitate the calculation of the movement speed of the measured object, so that the degree of the angle between the first reflecting surface and the second reflecting surface is not limited under the condition that the laser beam is incident to the first reflecting surface 8 of the triangular reflecting mirror 4, reflected by the first reflecting surface 8 and then incident to the second reflecting surface 9, and the second reflecting surface 9 can reflect the laser beam to the reflecting mirror 5.
The speed measuring sensor provided in the embodiment is realized based on the Doppler effect, and the whole speed measuring sensor has the advantages of simple structure, low cost and high measuring precision.
Based on the speed sensor, the measuring method comprises the following steps:
step one:
setting a triangular reflector on the measured object, so that the triangular reflector can synchronously run with the measured object;
step two:
the position relation of the laser, the triangular reflector, the prism, the refracting mirror and the photoelectric detector is adjusted, so that the laser beam emitted by the laser is incident to the first reflecting surface of the triangular reflector, reflected by the second reflecting surface and then incident to the reflector, reflected by the reflector to the prism, transmitted by the prism and then received by the refracting mirror, and the photoelectric detector receives the laser beam refracted by the refracting mirror and measures the incident position of the laser beam;
step three:
the object to be measured runs along the direction approaching or departing from the laser, and the laser beam emitted by the laser in the running process is transmitted to the reflector along the same light path and is reflected to the same position of the prism by the reflector;
step four:
and calculating the running speed of the measured object according to the position change quantity of the incident light received by the photoelectric detector in the running process.
Examples
Referring to fig. 2, the present embodiment schematically discloses a speed sensor, which includes a laser 1, a triangular reflector 4, a prism 6, a refractive mirror 12, and a photodetector 7, wherein the triangular reflector 4 includes a first reflecting surface 8 and a second reflecting surface 9, an included angle between the first reflecting surface 8 and the second reflecting surface 9 is a right angle, and the triangular reflector 4 is attached to a measured object 3, and the prism 6 includes a prism face one 10 and a prism face two 11.
In the speed sensor, the following components are arranged:
the laser 1 is used for emitting a laser beam 2, the laser beam 2 is incident to the first reflecting surface 8 of the triangular reflecting mirror 4, and is reflected by the first reflecting surface 8 and then is incident to the second reflecting surface 9; the laser beam 2 reflected by the second reflecting surface 9 is incident on the first prism surface 10 of the prism 6, the first prism surface 10 refracts the incident laser beam 2 and is incident on the second prism surface 11, the second prism surface refracts the laser beam 2 again and is emitted, the refracting mirror 12 receives the laser beam 2 emitted by the second prism surface 11 and refracts the laser beam 2, and the photodetector 7 receives the laser beam 2 refracted by the refracting mirror 12 and measures the incident position thereof. And the processing system is used for calculating the running speed of the measured object according to the incidence position change of the laser beam 2 received by the photoelectric detector 7.
The doppler shift formula is as follows:
the frequency relationship between the observer and the emission source is shown in equation 1:
f' is the observed frequency;
f is the original emission frequency from which the emission originated in the medium;
v is the speed of travel of the wave in the medium;
V 0 for the moving speed of the observer, if the observer approaches the emission source, the front operation symbol is +number, and if the observer approaches the emission source, the front operation symbol is-number;
V s for the moving speed of the emission source, if the emission source is close to the observer, the forward operation symbol is the-number, otherwise, the forward operation symbol is the +number.
For the present invention, if the laser emission source is stationary, the doppler shift formula can be simplified as formula 2:
。
the invention provides a calibration method for position variation and movement speed because the refractive index of an optical material and the wavelength of light belong to nonlinear relations. The method comprises the following steps:
step one: setting a triangular reflector on the measured object, so that the triangular reflector can synchronously run with the measured object;
step two: the position relation of the laser, the triangular reflecting mirror, the prism, the refracting mirror and the photoelectric detector is adjusted, so that laser beams emitted by the laser are incident to a first reflecting surface of the triangular reflecting mirror, reflected by a second reflecting surface and then are incident to the prism, transmitted by the prism and then received by the refracting mirror, and the photoelectric detector receives the laser beams refracted by the refracting mirror and measures the incident position of the laser beams;
step three: and (3) giving different speeds V1, V2 and V3 … Vn, recording the position change quantity of the photoelectric detector at the corresponding speeds, and obtaining formulas and/or relation curves of the movement speed and the position change quantity of the photoelectric detector through nonlinear fitting.
As shown in fig. 2, the arrow direction is the running (moving) direction of the object to be measured and the triangular mirror, and in addition, the photoelectric sensor 7 adopts PSD, the laser beam 2 before running, the object to be measured 3, and the triangular mirror 4 are indicated by solid lines, the laser beam 2 after running, the object to be measured 3, and the triangular mirror 4 are indicated by broken lines, and the transmission path of the laser beam 2 is as follows:
before operation, the laser 1 emits a laser beam 2, the laser beam 2 is incident on the first reflecting surface 8 of the triangular reflecting mirror 4, and is reflected by the first reflecting surface 8 and then is incident on the second reflecting surface 9; the laser beam 2 is reflected to the first prism face 10 of the prism 6, the first prism face 10 refracts the laser beam 2 and makes the laser beam incident to the second prism face 11, the second prism face 11 refracts the laser beam 2 again and makes the laser beam incident to the refracting mirror 12, the refracting mirror 12 refracts the laser beam and makes the laser beam incident to the photodetector 7, and the photodetector 7 receives the laser beam 2 refracted by the refracting mirror 12 and measures the incident position thereof, which is referred to as the first incident position.
After operation (the object to be measured is operated in a direction approaching or separating from the laser, only the case of operation in the direction approaching the laser is shown in fig. 1), the laser 1 emits a laser beam 2, the laser beam 2 is incident on the first reflecting surface 8 of the triangular reflecting mirror 4, and is reflected by the first reflecting surface 8 and then is incident on the second reflecting surface 9; the laser beam 2 is reflected to the first prism face 10 of the prism 6, the first prism face 10 refracts the laser beam 2 and makes the laser beam enter the second prism face 11, the second prism face 11 refracts the laser beam 2 again and makes the laser beam enter the refracting mirror 12, the refracting mirror 12 refracts the laser beam and makes the laser beam enter the photodetector 7, and the photodetector 7 receives the laser beam 2 refracted by the refracting mirror 12, which is referred to as a second incident position.
The position variation of the incident light can be obtained according to the first incident position and the second incident position, and the speed of the measured object can be calculated by combining the calibrated formula or relation curve.
Based on the speed sensor, the measuring method comprises the following steps:
setting a triangular reflector on the measured object, so that the triangular reflector can synchronously run with the measured object;
the position relation of the laser, the triangular reflecting mirror, the prism, the refracting mirror and the photoelectric detector is adjusted, so that laser beams emitted by the laser are incident to a first reflecting surface of the triangular reflecting mirror, reflected by a second reflecting surface and then are incident to the prism, transmitted by the prism and then received by the refracting mirror, and the photoelectric detector receives the laser beams refracted by the refracting mirror and measures the incident position of the laser beams;
the object to be measured runs along the direction approaching or departing from the laser, and the laser beam emitted by the laser in the running process is transmitted to the same position of the prism along the same light path;
and calculating the speed of the measured object according to the position change quantity of the incident light received by the photoelectric detector in the operation process.
Compared with the speed measuring sensor in the embodiment, the speed measuring sensor has the advantages that the use of a reflecting mirror is reduced, and the structure is simpler.
The above description is merely illustrative of the present invention, and the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present invention, and the invention is intended to be covered by the scope of the present invention.
Claims (5)
1. A tachometer sensor, comprising:
the triangular reflector capable of synchronously moving along with the measured object comprises a first reflecting surface and a second reflecting surface;
the laser beam is incident to the first reflecting surface of the triangular reflecting mirror, reflected by the first reflecting surface and then is incident to the second reflecting surface;
a reflector for receiving the laser beam reflected by the second reflecting surface and reflecting the laser beam to the prism;
the prism is used for refracting the laser beam reflected by the reflector and transmitting the laser beam;
a refractive mirror for receiving the laser beam transmitted from the prism and refracting the laser beam; the refractor is attached to the photoelectric detector;
the photoelectric detector is used for receiving the laser beam refracted by the refractor and measuring the incident position of the laser beam;
and the processing system is used for calculating the speed of the measured object according to the incident position change of the laser received by the photoelectric detector.
2. The tach sensor of claim 1, wherein the laser light is P polarized light.
3. The tach sensor of claim 1, wherein the incident end face of the refractor forms an angle of less than 45 ° with the light beam incident to the refractor.
4. The tach sensor of claim 1, wherein the angle between the first reflective surface and the second reflective surface of the triangular reflector is a right angle.
5. The tachometer sensor of claim 1, wherein the prism comprises a first prism face and a second prism face, the laser beam reflected by the reflector is incident on the first prism face of the prism and refracted, and when the refracted laser beam is incident on the second prism face, the second prism face refracts the laser beam again and emits the laser beam from the second prism face.
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| CN111751567A (en) * | 2019-03-28 | 2020-10-09 | 比亚迪股份有限公司 | Rotational speed detection device and vehicle |
| CN109900212A (en) * | 2019-04-02 | 2019-06-18 | 北方民族大学 | The consistent formula displacement sensor of Novel light path |
| CN117146713A (en) * | 2023-09-25 | 2023-12-01 | 贵州电网有限责任公司 | Laser displacement sensor |
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