CN111580075A - Laser range finder system capable of automatically calibrating optical axis - Google Patents
Laser range finder system capable of automatically calibrating optical axis Download PDFInfo
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- CN111580075A CN111580075A CN202010530772.1A CN202010530772A CN111580075A CN 111580075 A CN111580075 A CN 111580075A CN 202010530772 A CN202010530772 A CN 202010530772A CN 111580075 A CN111580075 A CN 111580075A
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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
- G01S7/497—Means for monitoring or calibrating
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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
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Abstract
The invention relates to a laser range finder system capable of automatically calibrating an optical axis, which comprises a laser, a detector, an indicating light source, an optical axis adjusting device and an optical axis detecting device, wherein the detector is arranged on the laser; the optical axis detection device is used for detecting the position information of the received light path indicating light and the position information of the emitted light path laser beam, and acquiring the deviation value of the position information; and the optical axis adjusting device calibrates the optical axis of the transmitting optical path and/or the receiving optical path according to the deviation value. The system also comprises an optical fiber coupler which comprises a first optical fiber port, a second optical fiber port and a third optical fiber port, wherein the first optical fiber port is used for receiving the echo optical signal, the second optical fiber port is connected with the detector, and the third optical fiber port is connected with the indicating light source. When optical axis detection is carried out, indicating light emitted by an indicating light source is emitted along a receiving light path; the invention makes the optical axis of the indicating light path completely consistent with the optical axis of the receiving light path by connecting the indicating light source and the detector into the same light path through the optical fiber coupler, thereby achieving real closed-loop feedback.
Description
Technical Field
The invention relates to a laser range finder system capable of automatically calibrating an optical axis, and belongs to the field of laser range finding optical axis calibration.
Background
The long-distance laser ranging system and the laser radar system irradiate the surface of a target by utilizing transmitting laser, collect reflected optical signals by adopting a large-caliber receiving lens, converge on an APD photoelectric detector with high sensitivity, convert the optical signals into electric signals, measure the transmitting time difference and the receiving time difference, measure the distance, measure the speed, identify the target and the like, usually carry out high-precision coaxiality detection before being put into formal use, and aim to keep a transmitting optical axis and a receiving optical axis to be coaxial with high precision, which is also an important guarantee of the high precision of the laser ranging system and the laser radar system.
Among them, the method for calibrating the receiving optical axis and the transmitting optical axis includes a laser dotting method, a CCD or other light spot position detecting devices; the methods all need to be carried out in a special optical laboratory, and calibration is carried out by means of a special external optical axis detection auxiliary device, so that the whole detection requires high professional performance of operators, and the additional auxiliary device is generally large, is inconvenient for field or real-time detection, and is difficult to meet the requirements in practical engineering application.
Based on the above problems, the chinese patent of invention with an issued publication number CN 102353950B, "a laser radar optical system with an optical axis calibration function and an optical axis calibration method", discloses a laser radar optical system with an optical axis calibration function, which integrates a device with a calibration function inside the laser radar optical system, and can complete the consistency calibration of a laser emission optical axis, a laser signal receiving optical axis, and a target imaging aiming optical axis without an external auxiliary device; specifically, the method comprises the following steps: the device comprises a laser transmitting mirror and a backward reflecting mirror group, wherein the laser transmitting mirror is arranged on an adjusting mechanism, an illuminating light source is arranged on the outer side between a field diaphragm of a receiving light path and a relay mirror group, the backward reflecting mirror group and the illuminating light source are moved into the light path when the optical axis is calibrated, the illuminating light source and a laser are respectively turned on, light beams emitted by the illuminating light source and the laser are reflected into a CCD camera through a spectroscope by the backward reflecting mirror group, images of light spot positions of the receiving light axis and the laser light axis are obtained, the position of the laser transmitting mirror is adjusted until the two light spot images are overlapped, and the optical axis calibration is finished; however, this patent has the following problems:
1) for the retro-reflector set and the illumination light source, in the moving process, due to vibration, temperature change and other reasons, whether the light path of the illumination light source is completely overlapped with the actual receiving light path cannot be guaranteed, so that the accuracy of optical axis calibration cannot be guaranteed;
2) the arrangement of the retroreflector group undoubtedly increases the complexity and cost of the system structure;
3) when the optical axis is calibrated, the retroreflector group and the illumination light source need to be provided with moving mechanisms respectively, which also greatly increases the cost of the system and the complexity of the structure.
4) Due to the limitation of the pixel size of the CCD, the highest detection precision of the light spot position can reach several microns; for a four-quadrant detector, the indoor detection precision can reach submicron level, and a detection device arranged in the system is close to the indoor environment. According to the method, theta is the detection precision, delta x is the light spot position detection precision, and f is the front end focusing lens focal length; therefore, under the same angle detection precision, the focal length of the lens group matched with the CCD system is more than 10 times of that of the optical lens required by the four quadrants, and thus the complexity of the system structure is inevitably caused.
Disclosure of Invention
The invention aims to provide a laser range finder system capable of automatically calibrating an optical axis; the laser distance measuring machine is used for solving the problems that the laser distance measuring machine with the optical axis calibration in the prior art is complex in structure, is not on-line automatic in axis calibration, and cannot achieve real closed-loop feedback during optical axis calibration, so that inaccuracy is caused.
In order to achieve the above purpose, the technical scheme of the laser range finder system for automatically calibrating the optical axis of the invention comprises a laser, a detector, an indicating light source, an optical axis adjusting device and an optical axis detecting device;
the laser is used for emitting laser beams, and a transmission path of the laser beams forms an emission light path;
the detector is used for detecting an echo optical signal of a detected target object, wherein a transmission path of the echo optical signal forms a receiving optical path;
the indicating light source emits indicating light to the optical axis detection device;
the optical axis detection device is used for detecting the position information of the indicating light in the receiving light path and the position information of the laser beam in the transmitting light path, and acquiring the deviation value of the position information;
the optical axis adjusting device is used for calibrating the optical axis of the transmitting optical path and/or the receiving optical path according to the deviation value;
the optical fiber coupler comprises a first optical fiber port, a second optical fiber port and a third optical fiber port;
the first optical fiber port is provided with an optical access, the optical access is positioned on an optical axis of the receiving optical path and is used for receiving the echo optical signal, so that the echo optical signal is input into the first optical fiber port along the receiving optical path and is transmitted to the second optical fiber port in a total reflection manner in the first optical fiber port and the optical fiber of the optical fiber coupler, and the optical access is also used for emitting the indicating light; the second optical fiber port is connected with the detector, so that the echo optical signal enters the detector; the third optical fiber port is connected with the indicating light source and used for receiving the indicating light emitted by the indicating light source, so that the indicating light is transmitted to the first optical fiber port in a total reflection manner in the third optical fiber port and the optical fiber of the optical fiber coupler, and is emitted along the path of the receiving optical path after being emitted from the light inlet and the light outlet.
The invention has the beneficial effects that: according to the laser range finder system capable of automatically calibrating the optical axis, the indicating light source and the detector on the receiving optical path are connected into one optical path through the optical fiber coupler, the indicating light source does not need to move, the optical axis of the indicating light is strictly consistent with the optical axis of the receiving light, and therefore the accuracy of the transmitting optical axis and the accuracy of the receiving optical axis can be improved.
Further, a lens device is arranged in the receiving optical path, a focal point of the lens device is located on an optical axis of the receiving optical path, the light inlet and the light outlet of the first optical fiber port are located at the focal point, the lens device is used for enabling the echo light signal to be focused on the light inlet and the light outlet, and the lens device is further used for enabling the indicating light to be emitted along a direction parallel to the optical axis of the receiving optical path.
Further, the optical axis detection device is arranged at the emergent end of the emission light path.
The optical axis detection device is arranged at the emergent end of the emission light path, can directly acquire the optical signals of the emission light path and the indication light path, does not need to be provided with a light beam cut-off device, saves the cost of the whole system and simplifies the structure of the system.
Further, the optical axis detection device includes a four-quadrant detector for detecting position information of the laser beam emitted by the laser and/or position information of the indicating light.
Further, the optical axis detection device further comprises a lateral displacement prism for reflecting the laser beam and/or the indicating light to the four-quadrant detector.
Further, the optical axis adjusting device includes an adjusting mechanism and an adjusting element.
Further, the adjusting element is a reflecting mirror arranged on the transmitting light path and/or the receiving light path.
Further, the adjusting element is a laser arranged on the emission light path.
Furthermore, the optical axis detection device further comprises a signal processing device, wherein the input end of the signal processing device is connected with the optical axis detection device, and the output end of the signal processing device is connected with the adjusting mechanism in a control mode.
Drawings
FIG. 1 is a schematic diagram of the structure of a laser range finder system for automatically calibrating an optical axis according to the present invention;
reference numerals: 1-indicating light source, 2-detector, 3-optical fiber coupler, 4-light inlet and outlet, 5-relay lens, 6-receiving system, 7-transmitting system, 8-laser, 9-fast reflector, 10-beam expander group, 11-first reflector, 12-second reflector, 13-lens group, 14-lateral displacement prism, 15-focusing lens group, 16-four quadrant detector, 17-optical axis detection device, 18-signal processing device, 19-signal acquisition module, 20-A/D conversion module, 21-data processing module, 22-output module, 23-control system and 24-upper computer.
Detailed Description
The scheme of the invention is further explained in the following by combining the attached drawings.
Fig. 1 is a schematic structural diagram of a laser range finder system for automatically calibrating an optical axis, which includes a receiving system 6, an emitting system 7, a beam expander set 10, an optical axis detection device 17, a signal processing device 18, a control system 23, and an upper computer 24.
The receiving system 6 comprises an indicating light source 1, a detector 2, a fiber coupler 3 and a lens device.
The detector 2 in this embodiment is configured to detect an echo optical signal of a target object to be detected, where a transmission path of the echo optical signal forms a receiving optical path; the instruction light source 1 emits instruction light to the optical axis detection device 17.
The fiber coupler 3 in this embodiment includes a first fiber port, a second fiber port, and a third fiber port;
the first optical fiber port is provided with an optical access 4, the optical access 4 is located on an optical axis of the receiving optical path and is used for receiving an echo optical signal, so that the echo optical signal is input into the first optical fiber port along the receiving optical path and is transmitted to the second optical fiber port by total reflection in the optical fiber, and the optical access 4 is also used for emitting indication light; the second optical fiber port is connected with a detector 2 of a tail fiber, so that an echo optical signal enters the detector 2; and the third optical fiber port is connected with the indicating light source 1 of the tail fiber, and is used for receiving the indicating light emitted by the indicating light source 1, transmitting the indicating light to the first optical fiber port in a total reflection manner in the optical fiber, emitting the indicating light from the light inlet/outlet 4 along the path of the receiving optical path, and entering the optical axis detection device 17 to realize the position detection of the optical axis of the receiving optical path.
The lens device provided in the receiving optical path in the present embodiment is a relay lens 5, the focal point of the relay lens 5 is on the optical axis of the receiving optical path, the light inlet/outlet 4 of the first optical fiber port is located at the focal point of the relay lens 5, the relay lens 5 is used for focusing the echo light signal to the light inlet/outlet 4 of the first optical fiber port, and the relay lens 5 is also used for emitting the indication light in the direction parallel to the optical axis of the receiving optical path.
The indication light source 1 in the present embodiment is an LD light source (LD is a semiconductor laser) or other light sources.
It should be noted that, the indication light source 1 in this embodiment is connected to the receiving light path through the optical fiber coupler 3, so that it can be ensured that the indication light emitted by the indication light source 1 can also be emitted through the relay lens 5, and completely coincides with the echo light signal in the receiving light path, thereby more accurately realizing the detection of the receiving light axis.
The transmitting system 7 comprises a laser 8 and an optical axis adjusting device; wherein the laser 8 is used for emitting laser beams, and the transmission path of the laser beams forms an emission light path.
The optical axis adjusting device in this embodiment is used for calibrating the optical axis of the emission light path; the fast reflector (FSM)9 comprises a reflector and a driving element, and realizes small-angle deflection of the reflector under the action of the driving element (a piezoelectric device, an electrostatic micro-driver or a voice coil motor, etc., wherein the piezoelectric device is a piezoelectric ceramic driver); when the optical axis calibration is performed, the adjustment mechanism is controlled to adjust the quick mirror according to the deviation value of the position information of the optical axis of the receiving optical path and the optical axis of the transmitting optical path, which is acquired by the optical axis detection device 17.
Of course, as other embodiments, the optical axis adjusting device in this embodiment may also adopt a device combining a reflector and an adjusting mechanism, where the reflector is mounted on an adjusting mechanism whose pitch angle and azimuth angle are adjustable and locked, and the adjusting mechanism adopts a crank-rocker mechanism, which belongs to an adjusting structure of an optical lens in a laser radar system common in the prior art, and will not be described herein too much.
As another embodiment, the optical axis adjusting device in the above embodiment may also be disposed only in the receiving system, that is, an adjustable mirror is disposed between the beam expanding lens group 10 and the relay lens group 5; of course, two sets of optical axis adjusting devices can be arranged in the transmitting system and the receiving system at the same time.
In another embodiment, the optical axis adjusting device may be a light source, for example, a laser 8 that is adjusted in position and orientation to change the light beam emission direction.
The beam expanding lens group 10 is a lens group arranged on a shared light path of the transmitting system 7 and the receiving system 6 and used for transmitting laser beams to a detected target object and receiving echo light signals of the detected target object; comprising a first mirror 11, a second mirror 12 and a lens group 13.
The first reflector 11 in this embodiment is a polarizing film with a corresponding polarization state plated at the center, allowing the laser beam emitted by the laser to transmit completely; the surrounding area is coated with a reflection increasing film for totally reflecting the echo light signals to the receiving system 6. The second reflector 12 emits the emitted laser beam back through the lens assembly 11.
Meanwhile, the first reflecting mirror 11 and the second reflecting mirror 12 in this embodiment are arranged to be perpendicular to the polarization state of the indicating light source 1 in the receiving system or to be in a non-polarization state, so that the light emitted from the indicating light source 1 can fill the whole lens, and there is no central light-free state.
And an optical axis detection device 17 disposed at an exit end of the emission light path, i.e., at a rear end of the beam expander set 10, wherein the optical axis detection device 17 includes a lateral displacement prism 14, a focusing lens set 15 and a four-quadrant detector 16. The four-quadrant detector 16 is used for detecting the position of the light beam emitted by the indicating light source 1 and the laser 8.
The lateral displacement prism 14 in this embodiment is a window mirror that is highly transparent to the emitted laser, and can reflect a very small amount of light in the coverage area of the emitted laser beam to the focusing lens group 15, and after being focused by the focusing lens group 15, the light spot falls on the four-quadrant detector 16. The four-quadrant detector 16 in this embodiment generates corresponding current or voltage output according to the position of the light spot.
In another embodiment, the optical axis detection device 17 in this embodiment may be a CCD camera.
It should be noted that in this embodiment, the optical axis detection device 17 is disposed at an exit of the emission optical path, that is, between the target object to be measured and the optical path of the beam expander set 10, and when performing optical axis calibration, a light beam stop is not required, so that the system structure is simplified, and the cost of the distance measuring machine system is reduced.
The signal processing device 18 comprises a signal acquisition module 19, an A/D conversion module 20, a data processing module 21 and an output module 22, wherein the input end of the signal processing device is connected with the four-quadrant detector 16, and the output end of the signal processing device is connected with an adjusting mechanism of the quick reflector 9 in a control mode; the signal processing device 18 is configured to collect positions of corresponding spot signals output by the four-quadrant detector 16, perform analysis processing, calculate an optical axis deviation amount between a receiving optical axis and a transmitting optical axis, output the optical axis deviation amount through the output module 22, and control the adjusting mechanism to adjust the angle of the fast mirror 9, so as to implement the parallel of two optical axes.
The upper computer 24 in this embodiment is configured to send a corresponding control instruction, where the control instruction includes target object ranging and optical axis calibration; the control system 23 controls the connection of the indicating light source 1 and the laser 8, and turns on the indicating light source 1 and the laser 8, respectively, when performing optical axis calibration.
The control system 23 in the present embodiment is responsible for the overall control of the optical axis automatic calibration system. When the control system 23 receives a control instruction which is sent by the upper computer 24 and needs to perform optical axis self-calibration, firstly, an instruction is sent to the indicating light source 1 and the optical axis detection device 17 in the receiving system 6, and a receiving optical axis is detected; then sending an instruction to the laser 8 to detect the emission optical axis; and the optical axis calibration is realized according to the positions of the receiving optical axis and the generating optical axis detected by the optical axis detection device 17, and a signal is returned to the upper computer 24 after the calibration is finished.
The following describes the optical axis calibration process of the present invention with reference to the laser range finder system for automatically calibrating an optical axis in fig. 1, specifically, as follows:
1) the control system 23 receives an optical axis self-calibration control command sent by the upper computer 24, controls the indicating light source 1 to be turned on, and an indicating light beam is refracted to the four-quadrant detector 16 through the optical fiber coupler 3, the relay lens 5 and the beam expanding lens group 10 and the lateral displacement prism 14, the four-quadrant detector 16 detects the position of a light spot of the indicating light beam and outputs the position to the signal processing device 18, and the indicating light source 1 is turned off; wherein the indicated beam spot position represents the position of the receive optical axis.
2) Turning on a laser 8, transmitting a laser beam by a quick reflector 9, then passing through a beam expanding lens group 10, entering a four-quadrant detector 16 of an optical axis detection device 17, acquiring a laser spot position, and turning off the laser 8; the laser spot position represents the position of the emission optical axis.
3) Calculating the deviation amount of the receiving optical axis and the transmitting optical axis according to the acquired spot position of the indicating light beam and the spot position of the laser, judging the deviation amount and a set error value, and if the deviation amount is greater than the set error value, taking the deviation amount as the offset for driving the reflector 9 to adjust the angle by the output signal; otherwise, no calibration is performed.
The deviation amount in this embodiment is calculated from the position of the indication light and the position of the laser beam, and the focal length and defocus amount of the lens; the position of each light spot is calculated by a light spot position detection algorithm according to the current or voltage value detected by the four-quadrant detector.
The set error value in this embodiment is an error value set by the system factory.
The foregoing is merely a preferred embodiment of the present invention, which has been described in detail by way of general illustration and specific description, but is not intended to be limiting of the invention, which is susceptible to various modifications and adaptations by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (9)
1. A laser range finder system capable of automatically calibrating an optical axis comprises a laser, a detector, an indicating light source, an optical axis adjusting device and an optical axis detecting device;
the laser is used for emitting laser beams, and a transmission path of the laser beams forms an emission light path;
the detector is used for detecting an echo optical signal of a detected target object, wherein a transmission path of the echo optical signal forms a receiving optical path;
the indicating light source emits indicating light to the optical axis detection device;
the optical axis detection device is used for detecting the position information of the indicating light in the receiving light path and the position information of the laser beam in the transmitting light path, and acquiring the deviation value of the position information;
the optical axis adjusting device is used for calibrating the optical axis of the transmitting optical path and/or the receiving optical path according to the deviation value;
the optical fiber coupler is characterized by also comprising an optical fiber coupler, a first optical fiber port, a second optical fiber port and a third optical fiber port;
the first optical fiber port is provided with an optical access, the optical access is positioned on an optical axis of the receiving optical path and is used for receiving the echo optical signal, so that the echo optical signal is input into the first optical fiber port along the receiving optical path and is transmitted to the second optical fiber port in a total reflection manner in an optical fiber of the optical fiber coupler, and the optical access is also used for emitting the indicating light; the second optical fiber port is connected with the detector, so that the echo optical signal enters the detector; the third optical fiber port is connected with the indicating light source and used for receiving the indicating light emitted by the indicating light source, so that the indicating light is transmitted to the first optical fiber port in a total reflection manner in the optical fiber of the optical fiber coupler and is emitted along the path of the receiving optical path after being emitted from the light inlet and the light outlet.
2. The system of claim 1, wherein a lens device is disposed in the receiving optical path, a focal point of the lens device is on the optical axis of the receiving optical path, the light inlet/outlet of the first optical fiber port is located at the focal point, the lens device is configured to focus the echo light signal to the light inlet/outlet, and the lens device is further configured to emit the indication light in a direction parallel to the optical axis of the receiving optical path.
3. The laser range finder system capable of automatically calibrating an optical axis of claim 1, wherein the optical axis detection device is disposed at an exit end of the emission optical path.
4. The laser range finder system for automatically calibrating optical axis of claim 3, wherein the optical axis detection device comprises a four-quadrant detector for detecting the position information of the laser beam emitted from the laser and/or the position information of the indicating light.
5. The laser range finder system for automatically calibrating an optical axis of claim 4, wherein the optical axis detection device further comprises a lateral displacement prism for reflecting the laser beam and/or the indicating light to the four-quadrant detector.
6. The laser range finder system for automatically calibrating an optical axis of claim 1, wherein the optical axis adjusting means comprises an adjusting mechanism and an adjusting member.
7. The laser range finder system capable of automatically calibrating an optical axis of claim 6, wherein the adjusting element is a mirror disposed on the transmitting optical path and/or the receiving optical path.
8. The laser range finder system capable of automatically calibrating an optical axis of claim 6, wherein the adjustment element is a laser disposed on the emission path.
9. The laser range finder system capable of automatically calibrating an optical axis of claim 6, further comprising a signal processing device, wherein an input end of the signal processing device is connected to the optical axis detection device, and an output end of the signal processing device is connected to the adjusting mechanism.
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| CN114608463A (en) * | 2022-03-08 | 2022-06-10 | 重庆市亿飞智联科技有限公司 | Laser optical axis soft calibration method and device, electronic equipment and medium |
| CN114608463B (en) * | 2022-03-08 | 2024-04-19 | 重庆市亿飞智联科技有限公司 | Laser optical axis soft calibration method and device, electronic equipment and medium |
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Application publication date: 20200825 |