CN111953912A - Method and device for detecting spatial position of high-speed moving light spot - Google Patents
Method and device for detecting spatial position of high-speed moving light spot Download PDFInfo
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- CN111953912A CN111953912A CN202010732319.9A CN202010732319A CN111953912A CN 111953912 A CN111953912 A CN 111953912A CN 202010732319 A CN202010732319 A CN 202010732319A CN 111953912 A CN111953912 A CN 111953912A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
Abstract
The invention discloses a method and a device for detecting the space position of a high-speed moving light spot. The light energy of the light spot during the light spot flashing respectively acts on the detection sensitive surfaces of the two PSD sensors, the sensing detection unit converts the light signal of the flashing light spot into a weak electric signal, the weak electric signal is filtered and amplified through the central control unit, the A/D conversion is carried out to obtain two-dimensional image coordinates of the light spot under respective camera coordinate systems, and then the spatial three-dimensional position coordinates of the flashing light spot are obtained by combining the known relative position relationship between the left PSD and the right PSD and a binocular vision algorithm. The invention improves the traditional binocular vision light spot detection method, and changes the use of a PSD detector because the CCD/COMS has low response speed and is difficult to capture flash spots moving at high speed, thereby realizing the characteristics of high response speed, high detection precision, simple signal processing circuit and low requirement on an optical system.
Description
Technical Field
The invention relates to the technical field of detection of spatial positions of light spots moving at high speed, in particular to a method and a device for detecting the spatial positions of the light spots moving at high speed.
Background
The detection of the spatial position of the light spot moving at high speed plays an important role in the fields of aerospace, military, industry and the like, and the acquisition of the spatial position coordinate of the light spot at home and abroad is mainly realized by an acoustic detection method and a camera measurement method at present. The acoustic detection method is a measurement method for realizing positioning by detecting natural sound waves emitted in the air when an instantaneous optical signal is generated by using an acoustic sensor, and although the acoustic detection method has the advantages of large measurable range and certain safety distance between a target and the acoustic sensor, the propagation speed of the sound waves in the air is slow, so the acoustic detection method is not suitable for the position measurement occasion of a high-speed target. The basic principle of the camera measuring method is that a plurality of CCD cameras are placed in a certain position relation, each CCD camera can capture a light spot signal at the moment of flashing of a light signal, the image coordinate position of the light spot signal is contained in picture information generated by the CCD cameras, and then the space three-dimensional position coordinate of the light spot can be calculated by a related image processing algorithm and the relative position relation of the cameras. Since the CCD transmits image information, the measurement accuracy of which depends largely on the picture of high pixels, which affects the transmission frame rate of the camera, the CCD camera measurement method is contradictory in accuracy and response speed. In addition, because the CCD is a segmented device, the resolution of the CCD is limited by the size of pixels, the response speed of the detector is influenced by adopting a scanning mode, and the CCD detection process has higher requirements on an imaging system, so that the design of a subsequent processing circuit is complicated.
The position sensitive detector PSD is a semiconductor device based on transverse photoelectric effect developed in the middle and later period of the twentieth century, and can convert the intensity and displacement of a light spot irradiated on a sensitive surface by a light source into a current signal, namely the current signal of an output electrode represents the position information of the light source. Compared with CCD, PSD is a continuous analog device, which overcomes the limitation of pixel size in resolution of array type device, and the output mode does not need scanning, thus improving detection speed and simplifying measurement circuit.
Although the PSD has the advantages of high detection accuracy, fast response speed, strong practicability, etc., the current home and abroad PSD application occasions mainly focus on the detection of two-dimensional positions, and a method and a device for measuring the three-dimensional positions of light spots by using the PSD are lacked.
Disclosure of Invention
In order to solve the above problems, the present application aims to provide a method and an apparatus for detecting the spatial position of a light spot moving at a high speed.
In order to realize the purpose of the invention, the method for detecting the space position of the light spot moving at high speed provided by the invention can be used for acquiring the two-dimensional image coordinates of the light spot through the two PSD sensors and calculating the space three-dimensional position coordinates of the flash moment of the light spot by combining the known relative position relationship between the two sensors and a corresponding digital processing algorithm.
The method specifically comprises the following steps:
(1) optical lenses are respectively arranged at the front ends of the detection surfaces of the two PSD sensors and used for converging light energy generated at the moment of flashing;
(2) the method comprises the steps that photo-current signals generated by light spot light energy response are obtained through PSD detection, the ratio of the photo-current signals essentially represents the position of an image point of a light spot, the photo-current signals are converted into voltage signals through a PSD peripheral processing circuit of a sensing detection unit, and A/D conversion is carried out after signal processing such as amplification, filtering and differential background light elimination;
(3) and storing the voltage digital quantity after A/D conversion in a data buffer of a signal processing unit, and extracting a section of data packet with the highest intensity and the most smooth signal by a microcontroller according to a certain electrode sequence to obtain the spatial position coordinate of the light spot by resolving according to a binocular vision principle.
The two PSD sensors detect that the main optical axes of the lens at the front end of the sensitive surface meet the condition of being parallel to each other.
Correspondingly, the invention provides a detection method and a device for the spatial position of a high-speed moving light spot, which comprise a sensing detection unit, a central control unit and a remote operation control unit, wherein the sensing detection unit is connected with the central control unit, the central control unit is connected with the remote control unit, and the sensing detection unit is used for detecting an optical signal in real time and converting the optical signal into a corresponding electric signal; the central control unit is used for inhibiting noise interference under different distances and strength backgrounds and amplifying the converted electric signals; the remote operation control unit is used for calculating the spatial three-dimensional position coordinates of the light spot.
The sensing detection unit comprises two high-precision PSDs, and the PSDs are used for detecting optical signals in real time and converting the optical signals into corresponding electric signals.
The binocular vision position measuring device further comprises a calibration detection unit, wherein the calibration detection unit comprises an LED and a controller for controlling the LED flashing frequency in a programmable mode, and the controller is used for binocular vision position measurement to provide basic working parameters.
Compared with the prior art, the invention has the beneficial effects that:
(1) the method has a certain application range for measuring the light spot positions generated by different types of instant optical signals, wherein factors for distinguishing different types of instant optical signals mainly comprise the intensity of light energy of the instant optical signals and the duration, and the accurate detection of the corresponding light spot space positions of the instant optical signals can be completed by modifying the relevant electrical parameters of a signal acquisition circuit and the relevant digital processing method of a position calculating unit;
(2) compared with a CCD image sensor, the PSD improves the response speed and detection precision of the system, and the positioning of the three-dimensional position of the light spot space can be realized by using two detectors, so that the detection system is simple and miniaturized and is easy to operate;
(3) the influence of strong background light and other interferences can be eliminated by adopting a difference method in the signal processing unit, so that the accuracy of a detection result is improved;
(4) the position demodulation algorithm can directly analyze the space position of the flash point through the obtained information without steps of numerical value calculation and the like, has strong portability, and has certain expansibility in other similar occasions for solving the target space position.
Drawings
FIG. 1 is a schematic view of the overall apparatus of the present invention;
FIG. 2 is a schematic structural diagram of a calibration detection unit according to the present invention;
FIG. 3 is a schematic structural diagram of a detection aiming assist unit according to the present invention;
FIG. 4 is a flow chart of a method of the present invention;
in the figure: 101. a sensing detection unit 102, a detection aiming auxiliary unit 103, a calibration detection unit 104, a central control unit 105, a tripod instrument stand unit 106 and a remote operation control unit; 201. a bubble level 202, a flash controller 203, a folding strut 204, an LED 205, a tripod; 301. reference arm, 302, telescope, 303, laser range finder, 304, PSD camera, 305, pitch yaw table, 306, mount, 307, azimuth rotation table, 308, tripod.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention provides a method for detecting the space position of a light spot moving at a high speed based on double PSDs (phase-sensitive detectors). two-dimensional image coordinates of the light spot are acquired by two PSD sensors, and the space three-dimensional position coordinates of the flash moment of the light spot can be calculated by combining the known relative position relationship between the two sensors and a corresponding digital processing algorithm.
As shown in fig. 4, the specific process is as follows:
(1) optical lenses are respectively arranged at the front ends of the detection surfaces of the two PSD sensors and used for converging light energy generated at the moment of flashing;
(2) the method comprises the steps that photo-current signals generated by light spot light energy response are obtained through PSD detection, the ratio of the photo-current signals essentially represents the position of an image point of a light spot, the photo-current signals are converted into voltage signals through a PSD peripheral processing circuit of a sensing detection unit, and A/D conversion is carried out after signal processing such as amplification, filtering and differential background light elimination;
(3) and storing the voltage digital quantity after A/D conversion in a data buffer of a signal processing unit, and extracting a section of data packet with the highest intensity and the most smooth signal by a microcontroller according to a certain electrode sequence to obtain the spatial position coordinate of the light spot by resolving according to a binocular vision principle.
As shown in fig. 1-fig. 3, corresponding to the above method, an embodiment of the present invention further provides a device for detecting a spatial position of a light spot moving at a high speed based on dual PSD, which includes a sensing detection unit 101, a detection aiming assist unit 102, a calibration detection unit 103, a central control unit 104, a tripod instrument holder unit 105, and a remote operation control unit 106;
the schematic diagram of the spatial structural layout of the detection sensing units is shown in fig. 3, the two detection sensing units are arranged above the reference arm symmetrically, the auxiliary aiming unit is arranged at the central position of the reference arm and is fixed on the horizontal rotating platform and the upper and lower pitching platforms, and the whole is stably supported by a tripod to provide guarantee for measurement. The sensing detection unit 101 comprises two PSDs which are arranged on a tripod instrument frame unit 105, the tripod instrument frame unit 105 comprises a reference arm 301, a pitch angle deflection table 305, a fixed frame 306, an azimuth angle rotation table 307 and a tripod 308, the azimuth angle rotation table 307, the pitch angle deflection table 305 and the fixed frame 306 are sequentially arranged above the tripod 308, the fixed frame 306 is fixedly provided with the reference arm 301, two ends of the reference arm 301 are respectively provided with one PSD, and a detection aiming auxiliary unit 102 which comprises an aiming telescope 302 and a laser range finder 303 is arranged above the fixed frame.
The schematic spatial structural layout of the calibration detection unit 103 is shown in fig. 2, wherein the calibration detection unit 103 comprises a bubble level 201, a flash controller 202, a folding strut 203, an LED204, and a tripod 205; bubble level 201, flash of light controller 202, folding branch 203, LED204 are provided with to tripod 205 top, folding branch is four that the interval evenly set up on the coplanar, and its tip sets up an LED respectively, and four LEDs are through control, and the order is luminous, once brightens one. The 4 LED light sources are structurally distributed according to a certain spatial relationship, and the 4 LEDs are ensured to be in one plane. A high-intensity laser is arranged on the left side of the LED time sequence control box and used for indicating the centers of the 4 LEDs, and the position relation of the 4 LEDs is measured by a high-precision instrument, so that the reliability of a measuring result is improved.
When in use, the calibrated sensing unit 101 is installed at a fixed position from the flash point, the reference arm for installing the sensing detection unit is parallel to the movement direction of the light spot, proper working parameters are set through an upper computer, the detection can be started, the light spot generates an instant light signal near a known central point, the sensing detection unit collects the light signal at each moment and converts the light signal into a corresponding current signal, the preposed signal processing unit is utilized to convert the current signal into a voltage signal and processes the voltage signal, such as amplification, filtering, background light elimination and the like, then the data is converted into digital quantity through an ADC (analog to digital converter) and input into an FIFO (first in first out) buffer, the data read from the FIFO by the ARM core controller is stored according to the PSD electrode sequence, then is stored according to the time sequence, and is finally stored according to the driving sequence of the light source, and the time sequence requirements of the modules are uniformly controlled by a CPLD (complex programmable logic device) logic chip. And finally, the ARM brings the digital quantity read in sequence into a target position calculation algorithm, and the space three-dimensional position coordinate of the target can be obtained.
FIG. 4 shows the whole process from generation to position calculation, when a flash signal occurs, a PSD detector converts an optical energy signal into a current signal, the ratio of the current signal essentially represents the image point position of a light spot, the current signal is converted into a voltage signal by a PSD peripheral processing circuit of a sensing detection unit, the voltage signal is subjected to signal processing such as amplification, filtering and background light differential elimination, and then A/D conversion is performed, the voltage digital quantity after A/D conversion is stored in a data buffer of the signal processing unit, a microcontroller extracts effective data packets according to a certain electrode sequence and sends the effective data packets into a position calculation unit, two-dimensional image coordinates of the light spot on the optical sensitive surfaces of two PSD sensors are calculated according to the position detection principle of the PSD sensors, and a known relative position relation between the PSD sensors and a digital processing algorithm are combined, and finally, directly analyzing to obtain the spatial three-dimensional position coordinates of the light spot.
The method for detecting the spatial position of the high-speed moving light spot by using the double PSDs has the remarkable advantages of high detection speed, high precision, simple signal processing circuit and low requirements on the background and the optical system of the detected environment, and has good application range in different external environments.
The technical means not described in detail in the present application are known techniques.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A method for detecting the space position of a light spot moving at a high speed is characterized in that two-dimensional image coordinates of the light spot are acquired through two PSD sensors, and the space three-dimensional position coordinates of the flash moment of the light spot can be calculated by combining the known relative position relation between the two sensors and a corresponding digital processing algorithm.
2. The method for detecting the spatial position of a light spot moving at a high speed according to claim 1, wherein the method comprises the following steps:
(1) optical lenses are respectively arranged at the front ends of the detection surfaces of the two PSD sensors and used for converging light energy generated at the moment of flashing;
(2) the method comprises the steps that photo-current signals generated by light spot light energy response are obtained through PSD detection, the ratio of the photo-current signals essentially represents the position of an image point of a light spot, the photo-current signals are converted into voltage signals through a PSD peripheral processing circuit of a sensing detection unit, and A/D conversion is carried out after signal processing such as amplification, filtering and differential background light elimination;
(3) and storing the voltage digital quantity after A/D conversion in a data buffer of a signal processing unit, and extracting a section of data packet with the highest intensity and the most smooth signal by a microcontroller according to a certain electrode sequence to obtain the spatial position coordinate of the light spot by resolving according to a binocular vision principle.
3. The method according to claim 1, wherein the two PSD sensors detect that the primary optical axes of the lens in front of the sensitive surface are parallel to each other.
4. The device for detecting the space position of the high-speed moving light spot is characterized by comprising a sensing detection unit, a central control unit and a remote operation control unit, wherein the sensing detection unit is connected with the central control unit, the central control unit is connected with the remote control unit, and the sensing detection unit is used for detecting an optical signal in real time and converting the optical signal into a corresponding electric signal; the central control unit is used for inhibiting noise interference under different distances and strength backgrounds and amplifying the converted electric signals; the remote operation control unit is used for calculating the spatial three-dimensional position coordinates of the light spot.
5. The device according to claim 4, wherein the sensing unit comprises two high-precision PSDs for detecting optical signals in real time and converting the optical signals into corresponding electrical signals.
6. The device for detecting the spatial position of a light spot moving at a high speed based on dual PSD according to claim 4, further comprising a calibration detection unit, wherein the calibration detection unit comprises an LED and a controller for programmable control of the flashing frequency of the LED, and the controller is used for providing basic working parameters for binocular vision position measurement.
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Cited By (3)
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| CN113390343A (en) * | 2021-06-28 | 2021-09-14 | 上海工程技术大学 | Cooperative target space pose detection device and method thereof |
| CN113804104A (en) * | 2021-08-06 | 2021-12-17 | 天津大学 | Light spot space position detection system and method based on double CMOS cameras |
| CN115717859A (en) * | 2022-11-16 | 2023-02-28 | 南京博视医疗科技有限公司 | Laser calibration method and device for point scanning optical system |
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