CN109387852B - Device for inhibiting speckle effect by using partial wave surface shift image in triangular distance measurement line focus imaging - Google Patents
Device for inhibiting speckle effect by using partial wave surface shift image in triangular distance measurement line focus imaging Download PDFInfo
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- CN109387852B CN109387852B CN201811412937.4A CN201811412937A CN109387852B CN 109387852 B CN109387852 B CN 109387852B CN 201811412937 A CN201811412937 A CN 201811412937A CN 109387852 B CN109387852 B CN 109387852B
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- glass sheet
- image detector
- lens group
- line
- sheet array
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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
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention belongs to the field of laser ranging, and discloses a device for inhibiting a speckle effect by using a partial wave surface shift image in triangular ranging line focus imaging, which comprises a transmitting unit and a receiving unit, wherein: the transmitting unit comprises a laser, a focusing lens group and a cylindrical lens, and the measured object is arranged below the cylindrical lens; the one-dimensional glass sheet array and the receiving lens group in the receiving unit are arranged between the photoelectric image detector and a detected object, and scattered light emitted by the detected object is subjected to wave splitting surface image shifting by the one-dimensional glass sheet array to form a plurality of line focal spot images which are received by the photoelectric image detector. According to the invention, the one-dimensional glass sheet array is arranged between the photoelectric image detector and the measured target, so that scattered light partial wave surface images can be formed into a plurality of line focal spot images, the distance measurement is carried out by calculating the average value, the measurement uncertainty of laser triangulation distance measurement is effectively reduced by using an averaging method, the transverse resolution of the measuring device is not sacrificed, and the method has a wider application scene.
Description
Technical Field
The invention belongs to the field of laser ranging, and particularly relates to a device for inhibiting a speckle effect by using a partial wave surface shift image in triangular ranging line focus imaging.
Background
The laser ranging method is a high-precision non-contact distance measuring method, wherein the laser triangulation ranging method utilizes the laser triangulation principle to calculate the distance of a measured object through a triangle formed by incident light and scattered light.
In the laser triangulation method, the speckle effect of the laser limits the accuracy of the measurement of the method. The speckle effect of the laser means that when the laser irradiates on the rough surface, phase difference is introduced into surface elements of the rough surface, so that scattered light is overlapped and interfered in space to form random light intensity distribution, and uncertainty exists in positioning of light spots in a laser ranging method, so that measurement uncertainty is caused.
In order to inhibit the speckle effect of laser and reduce the uncertainty of laser triangulation distance measurement, at present, a method for illuminating a measured target by using a line focal spot instead of a point focal spot is mainly adopted. According to the method, the purpose of inhibiting the speckle effect of the laser is achieved by increasing the measurement data quantity and utilizing the average effect, so that the inhibition effect is better when the line focal spot length is longer. However, the length of the focal spot of the excessively extended line can limit the surface shape of the measured object, so that the device has a narrow application range and does not have a good application prospect.
Disclosure of Invention
In view of the above defects or improvement needs of the prior art, the present invention provides a device for suppressing speckle effect by using partial wave surface shift in triangulation line focus imaging, wherein a one-dimensional glass sheet array is added near a receiving lens group, one line focal spot partial wave surface is shifted to form an image of multiple line focal spots, and uncertainty of measurement is reduced by using an averaging method, so that the device is particularly suitable for distance measurement of an object with a rough surface.
In order to achieve the above object, the present invention provides an apparatus for suppressing speckle effect by using a partial wave surface shift image in triangulation line focus imaging, which is characterized in that the apparatus comprises a transmitting unit and a receiving unit, wherein:
the emission unit comprises a laser, a focusing lens group and a cylindrical lens which are sequentially arranged from top to bottom, a measured object is arranged below the cylindrical lens, laser emitted by the laser forms point focus through the focusing lens group, then forms line focus through the cylindrical lens and irradiates the surface of the measured object to generate scattered light;
the receiving unit comprises a one-dimensional glass sheet array, a receiving lens group and a photoelectric image detector, the one-dimensional glass sheet array and the receiving lens group are arranged between the photoelectric image detector and a detected object, and scattered light emitted by the detected object is subjected to image shifting by the wave splitting surface of the one-dimensional glass sheet array to form a plurality of line focal spot images and is received by the photoelectric image detector.
As a further preference, the one-dimensional glass sheet array is placed between the receiving lens group and the object to be measured, between the receiving lens group and the photoelectric image detector, or inside the receiving lens group.
Further preferably, the number of glass sheets in the one-dimensional glass sheet array is 2 to 6.
As a further preference, the number of glass sheets in the one-dimensional glass sheet array is preferably 3.
As a further preference, the images of the line focal spots on the photo-image detector are uniformly distributed.
As a further preference, the placing angle of the ith glass sheet in the one-dimensional glass sheet array should satisfy the following relationship:
n sinθ′i＝sinθi (2)
wherein i is the number of glass sheets counted from the center to both sides, and θiIs an included angle theta 'between incident light and a normal line on the ith glass sheet'iThe angle between the refracted light ray and the normal on the ith glass sheet is n, the refractive index of the glass sheet is n, m is the number of line focal spot images on a certain dimension of the photoelectric image detector, A is the length of a photosensitive device in the photoelectric image detector on the corresponding dimension, phi is the width of the line focal spot images on the photoelectric image detector, and d is the thickness of the glass sheet.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. according to the invention, the one-dimensional glass sheet array is arranged between the photoelectric image detector and the measured target, so that the scattered light partial wave surface is subjected to image shift to form images of a plurality of line focal spots, more measurement data are obtained, distance measurement is carried out by calculating an average value, the measurement uncertainty of laser triangulation distance measurement is effectively reduced by using an averaging method, the transverse resolution of a measuring device is not sacrificed, and the method has a wider application scene;
2. if the uncertainty of the speckle energy center position of the single line-focus laser triangulation distance measuring method is, the uncertainty is obtained after N line focal spot images are formed through wave splitting surface image shifting
N glass sheets in the one-dimensional glass sheet array can generate N line focal spot images, so that the number of the line focal spot images formed after the sub-wave surface is subjected to image shifting can be increased by increasing the number of the glass sheets, and the uncertainty in laser triangulation distance measurement is further reduced;
3. in addition, the angle of the glass sheet is adjusted, so that line focal spot images on the photoelectric image detector are uniformly distributed, the weight provided by each line focal spot is basically consistent when the position of a light spot is determined, and the generation of errors is reduced;
4. in particular, the limiting conditions of the placing angle of each glass sheet are determined through calculation, so that the device can be effectively adjusted according to the application conditions, and the device constructed by the invention can be applied to different scenes.
Drawings
FIG. 1 is a schematic structural diagram of an apparatus for suppressing speckle effect by using a partial wave surface shift image in triangulation line focus imaging provided by the present invention;
FIG. 2 shows the propagation of light on the ith glass sheet in a one-dimensional array of glass sheets in accordance with an embodiment of the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
1: laser, 2: focusing lens group, 3: target to be measured, 4: one-dimensional glass sheet array, 5: receiving lens group, 6: photo image detector, 7: a cylindrical lens.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, an apparatus for suppressing speckle effect by using a partial wave surface shift image in triangulation line focus imaging is characterized in that the apparatus comprises a transmitting unit and a receiving unit, wherein:
the emission unit comprises a laser 1, a focusing lens group 2 and a cylindrical lens 7 which are sequentially arranged from top to bottom, a measured object 3 is arranged below the cylindrical lens 7, laser emitted by the laser 1 forms a point focus through the focusing lens group 2, then forms a line focus through the cylindrical lens 7 and irradiates the surface of the measured object 3 to generate scattered light;
the receiving unit comprises a one-dimensional glass sheet array 4, a receiving lens group 5 and a photoelectric image detector 6, the one-dimensional glass sheet array 4 and the receiving lens group 5 are arranged between the photoelectric image detector 6 and the detected object 3, and scattered light emitted by the detected object 3 is subjected to wave splitting surface image shift by the one-dimensional glass sheet array 4 to form N-line focal spots and is received by the photoelectric image detector 6;
more specifically, the one-dimensional glass sheet array 4 is formed by arranging N glass sheets in the same direction, the wave surface of scattered light emitted from the surface of the target 3 to be measured is divided into N parts by the one-dimensional glass sheet array 4, N line focal spot images are formed on the photoelectric image detector 6 after image shifting, and if the uncertainty of the speckle energy center position of the single line focal light triangulation distance measurement method is, the uncertainty after image shifting of the wave splitting surface is
The uncertainty is effectively reduced, the more the number of glass sheets is, the better the effect of reducing the measurement uncertainty is, and the laser intensity emitted by the laser is in direct proportion to the number of line focal spot images.
Further, the one-dimensional glass sheet array 4 is disposed between the receiving lens group 5 and the object 3 to be measured, between the receiving lens group 5 and the photoelectric image detector 6, or inside the receiving lens group 5.
Further, the number of the glass sheets in the one-dimensional glass sheet array 4 is 2 to 6.
Further, the number of glass sheets in the one-dimensional glass sheet array 4 is preferably 3.
Further, the images of the line focal spots on the photoelectric image detector 6 are uniformly distributed.
Further, the placing angle of the ith glass sheet in the one-dimensional glass sheet array 4 should satisfy the following relationship:
n sinθ′i＝sinθi (2)
wherein i is the number of glass sheets counted from the center to both sides, and θiIs an included angle theta 'between incident light and a normal line on the ith glass sheet'iThe angle between the refracted light ray and the normal on the ith glass sheet is n, the refractive index of the glass sheet is n, m is the number of line focal spot images on a certain dimension of the photoelectric image detector, A is the length of a photosensitive device in the photoelectric image detector on the corresponding dimension, phi is the width of the line focal spot images on the photoelectric image detector, and d is the thickness of the glass sheet.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. Utilize the device of the wave surface of partial wave to move the image and inhibit speckle effect in the line focus formation of image of the triangulation, characterized by that, the device includes transmitting element and receiving element, wherein:
the emission unit comprises a laser (1), a focusing lens group (2) and a cylindrical lens (7) which are sequentially arranged from top to bottom, a measured object (3) is arranged below the cylindrical lens (7), laser emitted by the laser (1) forms a point focus through the focusing lens group (2), then forms a line focus through the cylindrical lens (7) and irradiates the surface of the measured object (3) to generate scattered light;
the receiving unit comprises a one-dimensional glass sheet array (4), a receiving lens group (5) and a photoelectric image detector (6), the one-dimensional glass sheet array (4) and the receiving lens group (5) are arranged between the photoelectric image detector (6) and a detected object (3), scattered light emitted by the detected object (3) is subjected to image shifting by a wave splitting surface of the one-dimensional glass sheet array (4) to form a plurality of line focal spot images and is received by the photoelectric image detector (6), and therefore uncertainty of measurement is reduced by an averaging method.
2. The device for suppressing speckle effect by using wave-splitting surface shift in triangulation line focus imaging according to claim 1, wherein the one-dimensional glass sheet array (4) is placed between the receiving lens group (5) and the object (3) to be measured, between the receiving lens group (5) and the photoelectric image detector (6) or inside the receiving lens group (5).
3. The device for suppressing the speckle effect by using the partial wave surface shift image in the triangulation line focus imaging according to claim 1, wherein the number of the glass sheets in the one-dimensional glass sheet array (4) is 2 to 6.
4. The device for suppressing speckle effect by using the partial wave surface shift image in the triangulation line focus imaging according to claim 1, wherein the number of the glass sheets in the one-dimensional glass sheet array (4) is 3.
5. The device for suppressing the speckle effect by using the partial wave surface shift image in the triangulation line focus imaging according to claim 1, wherein the images of the line focal spots on the photoelectric image detector (6) are uniformly distributed.
6. The device for suppressing speckle effect by using partial wave surface shift image in triangulation line focus imaging according to any of claims 1 to 5, wherein the placement angle of the ith glass sheet in the one-dimensional glass sheet array (4) should satisfy the following relation:
nsinθ′i＝sinθi (2)
wherein i is the number of glass sheets counted from the center to both sides, and θiIs an included angle theta 'between incident light and a normal line on the ith glass sheet'iThe angle between the refracted light ray and the normal on the ith glass sheet is n, the refractive index of the glass sheet is n, m is the number of line focal spot images on a certain dimension of the photoelectric image detector, A is the length of a photosensitive device in the photoelectric image detector on the corresponding dimension, phi is the width of the line focal spot images on the photoelectric image detector, and d is the thickness of the glass sheet.
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| CN201811412937.4A CN109387852B (en) | 2018-11-23 | 2018-11-23 | Device for inhibiting speckle effect by using partial wave surface shift image in triangular distance measurement line focus imaging |
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| CN201811412937.4A CN109387852B (en) | 2018-11-23 | 2018-11-23 | Device for inhibiting speckle effect by using partial wave surface shift image in triangular distance measurement line focus imaging |
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| CN109387852B true CN109387852B (en) | 2020-11-24 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107037443A (en) * | 2015-11-04 | 2017-08-11 | 赫克斯冈技术中心 | Method and apparatus for the range measurement based on triangulation |
| CN107390202A (en) * | 2017-07-19 | 2017-11-24 | 西安理工大学 | A kind of method using spherical mirror reflection measurement spot drift and beam jitter |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105652280A (en) * | 2015-11-26 | 2016-06-08 | 广东雷洋智能科技股份有限公司 | Laser radar triangulation ranging method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107037443A (en) * | 2015-11-04 | 2017-08-11 | 赫克斯冈技术中心 | Method and apparatus for the range measurement based on triangulation |
| CN107390202A (en) * | 2017-07-19 | 2017-11-24 | 西安理工大学 | A kind of method using spherical mirror reflection measurement spot drift and beam jitter |
Non-Patent Citations (2)
| Title |
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| 光斑强度对光电位敏探测器测量准确度的影响;章鹏 等;《光子学报》;20140430;第43卷(第4期);全文 * |
| 采用三线位置敏感探测器定位模型分析光斑对定位精度的影响;方关明 等;《中国激光》;20090430;第35卷(第4期);第954-958页 * |
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