CN115201843B - Phase ranging structure and method based on multi-frequency light emission - Google Patents
Phase ranging structure and method based on multi-frequency light emission Download PDFInfo
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- CN115201843B CN115201843B CN202211125666.0A CN202211125666A CN115201843B CN 115201843 B CN115201843 B CN 115201843B CN 202211125666 A CN202211125666 A CN 202211125666A CN 115201843 B CN115201843 B CN 115201843B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
Abstract
The invention discloses a phase ranging structure and a method based on multi-frequency light emission, and belongs to the technical field of electro-optical ranging, wherein the ranging structure comprises a processor, a signal generator, a multi-point light emitter, a transmitting lens, a receiving lens, a light receiving tube and a signal conditioning circuit; the ranging structure comprises the following steps: the method comprises the steps of modulating a plurality of luminous points of a multi-point light generator through signals with different frequencies, projecting the signals onto an object after being collimated by a transmitting lens, reflecting the signals, entering a light receiving tube, mixing the signals with a local oscillator to obtain a group of intermediate frequency signals containing a plurality of frequency difference information, processing the intermediate frequency signals by a processor, obtaining distance information corresponding to the frequencies of a plurality of measuring gauges at the same time, and fitting the distance information to obtain the final distance of the measured object. The invention has simple structure, scientific and reasonable design, convenient use, no need of repeatedly switching the frequency of the measuring ruler, effective reduction of measuring time, enhancement of the anti-shake capability in the measuring process and great improvement of measuring efficiency.
Description
Technical Field
The invention belongs to the technical field of photoelectric ranging, and particularly relates to a phase ranging structure and method based on multi-frequency light emission.
Background
The current phase ranging method needs to take the distance measurement and high precision into account and adopts a multi-measuring-rule frequency method for measurement, which needs to repeatedly switch the measuring rule frequencies and calculate the corresponding distances in the measurement process, and finally the distances obtained by the plurality of measuring rule frequencies are fit into a final distance. Because of the frequency sequence output of a plurality of measuring scales, the defects of low measuring speed, poor distance jitter resistance and the like exist.
Based on the defects, the invention provides a phase ranging structure and a method based on multi-frequency light emission, and meanwhile, the phase ranging of multi-measuring-ruler frequency emission is carried out through a plurality of light spots, so that the measuring time can be effectively reduced, and the distance jitter resistance of the measuring process can be enhanced.
Disclosure of Invention
The invention aims to solve the technical problems that: a phase ranging structure and method based on multi-frequency light emission are provided to solve at least some of the above technical problems.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the phase ranging structure based on multi-frequency light emission comprises a processor, a signal generator, a multi-point light emitter, a transmitting lens, a receiving lens, a light receiving tube and a signal conditioning circuit, wherein the processor is connected with the signal generator and used for controlling the signal generator to generate a modulation signal, the signal generator is respectively connected to the multi-point light emitter and the light receiving tube, a transmitting port of the multi-point light emitter and a receiving port of the light receiving tube are respectively aligned to a measured object, the transmitting lens is positioned between the multi-point light emitter and the measured object, the receiving lens is positioned between the measured object and the light receiving tube, the light receiving tube is connected with the signal conditioning circuit, and the signal conditioning circuit is connected to the processor; the signal generator is provided with a plurality of paths of independent and simultaneous transmitting output channels, the output channels comprise a path of local oscillation signal output channels and a plurality of paths of modulation signal output channels, the optical receiving tube is connected to the local oscillation signal output channels, and the multi-point optical transmitter is connected to the modulation signal output channels.
Further, each path of modulation signal output channel outputs a modulation signal, the local oscillation signal output channel outputs a local oscillation signal, a frequency difference exists between a plurality of modulation signals, and a frequency difference also exists between a plurality of modulation signals and the local oscillation signal.
Further, the multi-point light emitter adopts a multi-point laser diode or a light emitting diode.
Further, the multi-point light emitter has at least two light emitting points.
Further, the number of the modulation signal output channels is consistent with that of the luminous points of the multi-point light emitters.
Further, the processor adopts any one of an FPGA, an MCU or a DSP.
Further, the light receiving tube employs a photosensor including, but not limited to, a PIN tube, an APD tube, and a photomultiplier tube.
A method of a phase ranging structure based on multi-frequency light emission, comprising the steps of:
step 1, the processor controls a signal generator to generate local oscillation signals and multipath modulation signals, and the local oscillation signals and the multipath modulation signals are respectively transmitted to an optical receiving tube and a multi-point optical transmitting tube;
and 3, receiving the local oscillation signals by the light receiving tube, mixing the local oscillation signals with the collected optical signals to obtain intermediate frequency signals containing a plurality of difference frequency information, conditioning the intermediate frequency signals by the signal conditioning circuit, transmitting the intermediate frequency signals to the processor for calculation to obtain distance information corresponding to a plurality of modulation frequencies, and fitting the distance information to the final distance of the measured object.
Compared with the prior art, the invention has the following beneficial effects:
the invention has simple structure, scientific and reasonable design and convenient use, adopts a structure of simultaneously measuring the distance by multiple photoelectric measuring frequencies, does not need to repeatedly switch the measuring frequencies, effectively reduces the measuring time, enhances the distance shake resistance in the measuring process, and greatly improves the measuring accuracy and efficiency.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
FIG. 2 is a schematic diagram of an embodiment of a measuring tape frequency selection according to the present invention.
Fig. 3 is a schematic spectrum diagram of the intermediate frequency signal after frequency mixing of the measuring tape in the embodiment of fig. 2.
Wherein, the names corresponding to the reference numerals are:
1-processor, 2-signal generator, 3-multiple spot light emitter, 4-emission lens, 5-receiving lens, 6-light receiving tube, 7-signal conditioning circuit, 8-measured object.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the phase ranging structure based on multi-frequency light emission provided by the invention comprises a processor 1, a signal generator 2, a multi-point light emitter 3, a transmitting lens 4, a receiving lens 5, a light receiving tube 6 and a signal conditioning circuit 7, wherein the processor 1 is connected with the signal generator 2 and is used for controlling the signal generator 2 to generate a modulation signal, the signal generator 2 is respectively connected to the multi-point light emitter 3 and the light receiving tube 6, a transmitting port of the multi-point light emitter 3 and a receiving port of the light receiving tube 6 are respectively aligned to a measured object 8, the transmitting lens 4 is positioned between the multi-point light emitter 3 and the measured object 8, the receiving lens 5 is positioned between the measured object 8 and the light receiving tube 6, the light receiving tube 6 is connected with the signal conditioning circuit 7, and the signal conditioning circuit 7 is connected to the processor 1.
The signal generator 2 is provided with a plurality of paths of independent and simultaneous transmitting output channels, the output channels comprise a path of local oscillation signal output channels and a plurality of paths of modulation signal output channels, the light receiving tube 6 is connected to the local oscillation signal output channels, and the multi-point light transmitter 3 is connected to the modulation signal output channels. Each path of modulation signal output channel outputs a modulation signal, the local oscillation signal output channel outputs a local oscillation signal, a frequency difference exists between a plurality of modulation signals, and a frequency difference also exists between a plurality of modulation signals and the local oscillation signal.
The multi-point light emitter 3 adopts a multi-point laser diode or a light emitting diode, and has the advantages of small volume, light weight, low power consumption, vibration resistance, stable light emission and the like. The multi-point light emitter 3 has at least two light emitting points. The number of the modulation signal output channels is consistent with that of the luminous points of the multi-point light emitter 3. Further, the multiple light emitting points of the multi-point light emitter 3 are respectively connected to different output ends of the signal generator 2, the output frequencies of the different output ends have frequency differences, so that modulated signals with different frequencies, i.e. different measuring frequencies, are output, and the frequency differences exist between the multiple modulated signals and the local oscillation signals.
The processor 1 adopts any one of an FPGA, an MCU or a DSP. The light receiving tube 6 employs a photosensor including, but not limited to, a PIN tube, an APD tube, and a photomultiplier tube.
The method of the phase ranging structure based on multi-frequency light emission is specifically as follows:
the processor 1 controls the signal generator 2 to generate local oscillation signals and multipath modulation signals, and the local oscillation signals and the multipath modulation signals are respectively transmitted to the light receiving tube 6 and the multipoint light transmitting tube 3; the multi-point light emitting tube 3 converts the multi-path modulation signals into light signals with corresponding modulation frequencies respectively, the light signals are collimated by the emitting lens 4 and emitted to the measured object 8, and the light signals reflected by the measured object 8 are collected to the light receiving tube 6 by the receiving lens 5; the optical receiving tube 6 receives the local oscillation signals, mixes the local oscillation signals with the collected optical signals to obtain intermediate frequency signals containing a plurality of difference frequency information, and transmits the intermediate frequency signals to the processor 1 for calculation after being conditioned by the signal conditioning circuit 7 to obtain distance information corresponding to a plurality of modulation frequencies, and fits the distance information to the final distance of the measured object.
As shown in fig. 2, in an embodiment of the present invention for selecting frequencies of four sets of measuring scales, the signal generator 2 in this embodiment has one local oscillation signal output channel and four modulation signal output channels, and the local oscillation signal f is output through the local oscillation signal output channel (output channel 5) LO The measuring tape frequency of (a) is 10MHz, and the modulated signals f are respectively output through a modulated signal output channel 1 (output channel 1), a modulated signal output channel 2 (output channel 2), a modulated signal output channel 3 (output channel 3) and a modulated signal output channel 4 (output channel 4) a 、f b、 f c And f d The frequencies of the measuring gauges are 10.1MHz, 10.2MHz, 10.3MHz and 10.4MHz respectively. The four paths of modulation signals are respectively converted into optical signals with corresponding modulation frequencies through the multi-point optical transmitting tube 3, and then are collimated by the transmitting lens 4 and transmitted to the measured object 8, and the optical signals reflected by the measured object 8 are collected to the optical receiving tube 6 through the receiving lens 5; the light receiving tube 6 receives the local oscillation signal f LO And mixes it with the collected optical signal to obtain intermediate frequency signal f containing multiple difference frequency information IF Intermediate frequency signal f IF From f LO Respectively and modulate signal f a 、f b 、f c 、f d Is superimposed with the difference frequency signal. Intermediate frequency signal f IF Is conditioned by a signal conditioning circuit 7 and then is transmitted to the placeThe processor 1 calculates to obtain distance information corresponding to a plurality of modulation frequencies, and fits the distance information to the final distance of the measured object. Fig. 3 is a schematic spectrum diagram of an intermediate frequency signal after frequency mixing of the measuring tape according to the embodiment.
Finally, it should be noted that: the above embodiments are merely preferred embodiments of the present invention for illustrating the technical solution of the present invention, but not limiting the scope of the present invention; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions; that is, even though the main design concept and spirit of the present invention is modified or finished in an insubstantial manner, the technical problem solved by the present invention is still consistent with the present invention, and all the technical problems are included in the protection scope of the present invention; in addition, the technical scheme of the invention is directly or indirectly applied to other related technical fields, and the technical scheme is included in the scope of the invention.
Claims (6)
1. The phase ranging structure based on multi-frequency light emission is characterized by comprising a processor (1), a signal generator (2), a multi-point light emitter (3), a transmitting lens (4), a receiving lens (5), a light receiving tube (6) and a signal conditioning circuit (7), wherein the processor (1) is connected with the signal generator (2) and is used for controlling the signal generator (2) to generate a modulation signal, the signal generator (2) is respectively connected to the multi-point light emitter (3) and the light receiving tube (6), a transmitting port of the multi-point light emitter (3) and a receiving port of the light receiving tube (6) are respectively aligned with a measured object (8), the transmitting lens (4) is positioned between the multi-point light emitter (3) and the measured object (8), the receiving lens (5) is positioned between the measured object (8) and the light receiving tube (6), the light receiving tube (6) is connected with the signal conditioning circuit (7), and the signal conditioning circuit (7) is connected to the processor (1). The signal generator (2) is provided with multiple independent and simultaneous transmitting output channels, the output channels comprise a local oscillation signal output channel and multiple modulating signal output channels, the optical receiving tube (6) is connected to the local oscillation signal output channels, and the multi-point optical transmitter (3) is connected to the modulating signal output channels;
each path of modulation signal output channel outputs a modulation signal, the local oscillation signal output channel outputs a local oscillation signal, frequency difference exists among a plurality of modulation signals, and frequency difference also exists between a plurality of modulation signals and the local oscillation signal;
the multi-point light emitter (3) adopts a multi-point laser diode or a light emitting diode.
2. A phase-ranging structure based on multi-frequency light emission according to claim 1, characterized in that the multi-point light emitter (3) has at least two light emitting points.
3. A phase-ranging structure based on multi-frequency light emission according to claim 2, characterized in that the modulated signal output channel corresponds to the number of luminous points of the multi-point light emitter (3).
4. A phase ranging structure based on multi-frequency light emission according to claim 1, characterized in that the processor (1) employs any one of FPGA, MCU or DSP.
5. A phase-ranging structure based on multi-frequency light emission according to claim 1, characterized in that the light receiving tube (6) employs a photosensitive device comprising a PIN tube, an APD tube and a photomultiplier tube.
6. A method of a phase ranging structure based on multi-frequency light emission according to any of claims 1-5, comprising the steps of:
step 1, the processor (1) controls the signal generator (2) to generate local oscillation signals and multipath modulation signals, and the local oscillation signals and the multipath modulation signals are respectively transmitted to the light receiving tube (6) and the multipoint light transmitter (3);
step 2, the multi-point light transmitter (3) respectively converts the multi-path modulation signals into light signals with corresponding modulation frequencies, the light signals are collimated by the transmitting lens (4) and then transmitted to the measured object (8), and the light signals reflected by the measured object (8) are collected to the light receiving tube (6) by the receiving lens (5);
and 3, receiving local oscillation signals by the light receiving tube (6), mixing the local oscillation signals with the collected optical signals to obtain intermediate frequency signals containing a plurality of difference frequency information, conditioning the intermediate frequency signals by the signal conditioning circuit (7), transmitting the intermediate frequency signals to the processor (1) for calculation to obtain distance information corresponding to a plurality of modulation frequencies, and fitting the distance information to the final distance of the measured object.
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