CN116482662B - Self-calibration system and self-calibration method of optical range finder - Google Patents
Self-calibration system and self-calibration method of optical range finder Download PDFInfo
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- CN116482662B CN116482662B CN202310746949.5A CN202310746949A CN116482662B CN 116482662 B CN116482662 B CN 116482662B CN 202310746949 A CN202310746949 A CN 202310746949A CN 116482662 B CN116482662 B CN 116482662B
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- 230000005540 biological transmission Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 6
- 239000013307 optical fiber Substances 0.000 description 3
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Classifications
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a self-calibration system and a self-calibration method of an optical distance meter, relates to the field of optical distance meter calibration, and solves the technical problems of high calibration and maintenance cost and inconvenient operation in the prior art. The optical path adjusting device comprises a controller, an optical transmitting tube, a modulating frequency generator, an optical receiving tube, an optical splitter, an emitting lens, an optical path adjusting distributor and a receiving lens, wherein the controller is respectively connected with the optical transmitting tube and the modulating frequency generator, the modulating frequency generator is respectively connected with the optical transmitting tube and the optical receiving tube, the optical receiving tube is connected with the controller, the optical transmitting tube is connected with the optical splitter, the emitting lens is arranged between the optical splitter and an external measured object, the receiving lens is arranged between the optical receiving tube and the external measured object, a first inner optical path and a second inner optical path are arranged between the optical splitter and the optical receiving tube, and the optical path adjusting distributor of two optical channels is arranged inside the second inner optical path. The invention reduces the calibration and maintenance cost, increases the convenience of operation and effectively improves the calibration rate.
Description
Technical Field
The invention relates to the field of optical range finder calibration, in particular to an optical range finder self-calibration system and a self-calibration method thereof.
Background
The existing optical distance measuring instrument adopts two methods of calibrating by using an external standard distance target surface of the instrument and calibrating by using a reference light path inside the instrument before delivery or measurement. However, when the external standard distance target is used for calibration, a target surface with higher precision than that of the optical range finder needs to be provided, particularly when a long-distance target surface is needed, a high-precision guide rail and calibration equipment are needed, and a professional is required to perform complicated operation to complete calibration, so that the method for calibrating the optical range finder by using the external standard distance target has high cost, inconvenient operation and severe calibration conditions; the method adopts a fixed internal light path or an optical switch to perform light path switching, the method has the problem that the individual circuit of the whole machine to be calibrated and the light path parameters are large in difference, and the calibration is performed one by one after the positive electrode is assembled, so that the time cost is increased by adopting the method for calibrating the optical range finder. And the two methods are only suitable for calibration before delivery, and after instrument parameters change, the calibration needs to be carried out again by returning to the factory or professionals, so that the maintenance cost of the optical range finder is increased.
Therefore, the self-calibration system and the self-calibration method of the optical distance meter are provided, so that the calibration cost and the maintenance cost of the optical distance meter are reduced, the operation convenience is improved, and the calibration can be performed after leaving a factory.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to solve the problems of high calibration cost, high maintenance cost and inconvenient calibration of the optical range finder, the optical range finder self-calibration system and the self-calibration method thereof are provided.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the self-calibration system of the optical range finder comprises a controller, an optical emission tube, a modulation frequency generator, an optical receiving tube, a beam splitter, an emission lens, an optical path adjusting distributor and a receiving lens, wherein the controller is respectively connected to the optical emission tube and the modulation frequency generator;
the optical path adjusting distributor comprises a wavelength division multiplexer, an optical channel A, an optical channel B and a beam combiner, wherein the wavelength division multiplexer, the optical channel A, the optical channel B and the beam combiner are used for adjusting the direction of an optical path, the output end of the wavelength division multiplexer is respectively connected with the optical channel A and the optical channel B, the optical channel A and the optical channel B are connected with the beam combiner, and the optical channel B is provided with a base and a plurality of groups of reflectors fixed on the base.
Further, the optical splitter includes a measurement optical path output, a first internal optical path output, and a second internal optical path output.
A self-calibration method of an optical rangefinder self-calibration system, comprising the steps of:
step 1, a controller acquires an initial starting pulse, an initial measuring pulse, a first reference pulse and a second reference pulse, and is used for judging whether an optical path is normal or not;
step 2, calculating and calibrating the optical path difference of the optical path A and the optical path B in the optical path adjusting distributor, and setting the optical path difference of the optical path A and the optical path B to be a specified value;
and 3, performing calibration measurement through the appointed value of the optical path difference.
Further, the step 1 includes:
step 11, the controller controls the light emitting tube to emit one path of light beam;
step 12, the beam splitter receives the light beam and distributes the light beam into a measuring light beam, a first inner light beam and a second inner light beam in proportion;
and 13, transmitting the measuring light beam to the light receiving tube to form an initial measuring pulse through reflection of the measured object, transmitting the first internal light beam to the light receiving tube along a first internal light path to form an initial starting pulse in the light receiving tube, transmitting the second internal light beam to the light receiving tube along a second internal light path, respectively passing through an optical channel A and an optical channel B of the optical path adjusting distributor, and respectively irradiating the first internal light beam and the second internal light beam to the light receiving tube to form a first reference pulse and a second reference pulse.
Further, the step 2 includes:
step 21, shielding the emission lens, transmitting two light beams with different wavelengths to the light receiving tube respectively, wherein the two light beams respectively generate a third reference pulse and a fourth reference pulse on the light receiving tube through the light channel A and the light channel B, respectively record the time for generating the third reference pulse and the time for generating the fourth reference pulse, respectively, the time for the two light beams to reach the light receiving tube through the first internal light path, and the first time difference for generating the third reference pulse and the fourth reference pulse;
step 22, calculating a rough value of the optical path difference between the optical path A and the optical path B of the optical path adjusting distributor by using the first time difference for generating the third reference pulse and the fourth reference pulse, and determining a corresponding modulation frequency by the rough value;
step 23, respectively emitting two light beams with the same wavelength as that in step 21, modulating the frequencies of the two light beams by controlling a modulating frequency generator, and respectively carrying out frequency mixing operation on the light receiving tube after the two light beams are modulated to obtain two corresponding phase information;
step 24, calculating an accurate value of the optical path difference between the optical path A and the optical path B of the optical path adjusting distributor through two corresponding phase information;
and 25, adjusting the optical path of the optical channel B of the optical path adjusting distributor to enable the accurate value of the optical path difference between the optical channel A and the optical channel B of the optical path adjusting distributor to accord with the specified value, calculating a second time difference corresponding to the specified value, and uploading the specified value and the second time difference to the controller.
Further, the step 21 includes:
step 211, shielding the emission lens, wherein the controller is in a calibration mode;
step 212, the controller controls the emission wavelength of the light emitting tube to be lambda 7a The first beam splitter splits the first beam into a third inner beam and a fourth inner beam, the third inner beam is transmitted to the light receiving tube along the first inner optical path, and the controller records the time t of the third inner beam transmitted to the light receiving tube along the first inner optical path 0 The fourth inner beam propagates along the second inner optical path to an optical path adjustment distributor, and wavelength lambda is selected by a wavelength division multiplexer of the optical path adjustment distributor 7a The fourth internal light beam propagates to the light receiving tube through the light channel A to form a third reference pulse, and the controller records the time t of the generation of the third reference pulse a1 ；
Step 213, the controller controls the emission wavelength of the light emitting tube to be lambda 7b The beam splitter splits the second beam into a fifth inner beam and a sixth inner beam, the fifth inner beam is transmitted to the light receiving tube along the first inner optical path, and the controller records a time t when the fifth inner beam is transmitted to the light receiving tube along the first inner optical path 1 The sixth internal light beam propagates along the second internal light path to the optical path adjustment distributor, and the wavelength lambda is selected by the wavelength division multiplexer of the optical path adjustment distributor 7b The sixth internal light beam propagates to the light receiving tube through the light channel B to form a fourth reference pulse, and the controller records the time t of the fourth reference pulse generation b1 ；
Step 214, let t 0 ，t 1 The first time difference between the third reference pulse and the fourth reference pulse on the coordinate axis is calculated.
Further, the step 23 includes:
231, the controller controls the emission wavelength of the light emitting tube to be lambda 7a And controls the output frequency f of the modulation frequency generator a Modulate the first light beam while outputting the frequency f b To the light receiving tube, the modulated first light beam propagates to the light receiving tube along the first internal optical path and the optical channel A of the optical path adjusting distributor, respectively, and then is combined with the frequency f on the light receiving tube b Mixing to generate phase information PHa, wherein the phase information PHa corresponds to optical path difference information between a first internal optical path and an optical path where an optical path A of an optical path adjusting distributor is positioned;
step 232, the controller controls the emission wavelength of the light emitting tube to be lambda 7b And controls the output frequency f of the modulation frequency generator a Modulating a second light beam, which is transmitted to the light receiving tube along the first internal light path and the light channel B of the optical path adjusting distributor, respectively, and then adding the frequency f on the light receiving tube b And mixing to generate phase information PHb, wherein the phase information PHb corresponds to optical path difference information between the first internal optical path and an optical path where an optical path B of the optical path adjusting distributor is positioned.
Further, the step 3 includes:
step 31, the shielding emission lens is removed, the controller controls the light emission tube to emit a third light beam with the wavelength lambda, the third light beam sequentially passes through the emission lens, an external measured object and a measuring light path of the receiving lens and generates corresponding measuring pulse in the light receiving tube, the time of the generated measuring pulse is recorded, the third light beam simultaneously propagates to the light receiving tube through the first internal light path and generates corresponding initial pulse in the light receiving tube, the time of the generated initial pulse is recorded, and the third time difference between the generated measuring pulse and the generated initial pulse is calculated;
and step 32, comparing the second time difference with the third time difference by taking the specified optical path difference and the corresponding second time difference as standard scales, and calculating to obtain a measured distance value through a comparison result of the second time difference and the third time difference and the optical path difference.
Compared with the prior art, the invention has the following beneficial effects:
the self-calibration device is simple in structure, scientific and reasonable in design and convenient to use, and the self-calibration function is realized by utilizing the internal adjustable light path, the internal light path calibration is realized by adopting the light emitting tube with adjustable wavelength to be matched with the light path adjustment distributor, an accurate value of the light path difference of the internal light path is provided for the system after the calibration, the system uses the accurate value of the light path difference as a scale to accurately calculate the measurement distance, and the self-calibration of the laser range finder is realized, so that the self-calibration device effectively reduces the requirements on a calibration site, thereby reducing the calibration cost and maintenance cost and increasing the convenience of operation.
The optical path adjusting distributor of the invention carries out the switching of the optical channel through the wavelength division multiplexer without an optical switch and a corresponding control circuit, thereby effectively improving the calibration rate and reducing the time cost.
Drawings
FIG. 1 is a block diagram of a system according to the present invention.
FIG. 2 is a block diagram of an optical path length adjuster distributor according to the present invention.
Wherein, the names corresponding to the reference numerals are:
the device comprises a 1-controller, a 2-light emitting tube, a 3-modulation frequency generator, a 4-light receiving tube, a 5-light splitter, a 6-emitting lens, a 7-optical path adjusting distributor, an 8-receiving lens, a 9-first inner optical path, a 10-second inner optical path, an 11-external measured object, a 12-wavelength division multiplexer, a 13-reflector, a 14-beam combiner, a 15-base, a 16-light channel A, a 17-light channel B and an 18-measuring optical path.
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.
In the description of the present invention, it should be noted that the terms "first," "second," and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1-2, the optical fiber measuring device comprises a controller 1, an optical emission tube 2, a modulation frequency generator 3, an optical receiving tube 4, an optical splitter 5, an emission lens 6, an optical path adjustment distributor 7 and a receiving lens 8, wherein the controller 1 is respectively connected to the optical emission tube 2 and the modulation frequency generator 3, the modulation frequency generator 3 is respectively connected to the optical emission tube 2 and the optical receiving tube 4, the optical receiving tube 4 is connected to the controller 1, the optical emission tube 2 is connected with the optical splitter 5, the emission lens 6 is arranged between the optical splitter 5 and an external measured object 11, the receiving lens 8 is arranged between the optical receiving tube 4 and the external measured object 11, a first inner optical path 9 and a second inner optical path 10 are arranged between the optical splitter 5 and the optical receiving tube 4, and the optical path adjustment distributor 7 of two optical channels is arranged in the second inner optical path 10;
the optical path adjusting distributor 7 comprises a wavelength division multiplexer 12, an optical channel A16, an optical channel B17 and a beam combiner 14 for adjusting the direction of an optical path, wherein the output end of the wavelength division multiplexer 12 is respectively connected with the optical channel A16 and the optical channel B17, the optical channel A16 and the optical channel B17 are connected with the beam combiner 14, and the optical channel B17 is provided with a base 15 and a plurality of groups of reflectors 13 fixed on the base 15.
In a specific embodiment, the optical channel A16 and the optical channel B17 in the optical path adjusting distributor 7 are integrated together, so that the consistency of temperature and thermal expansion coefficient is ensured, errors caused by inconsistent measuring factors are reduced, and the measuring precision is effectively improved.
The optical path of the optical channel A16 of the optical path adjusting distributor 7 is unchanged, the optical channel A16 is made of a high-stability light guide material insensitive to temperature and vibration, and the optical channel B17 can adjust the optical path of the optical channel B17 by adjusting the intervals among a plurality of groups of reflectors 13; the optical channel B17 of the optical path adjusting distributor 7 can also be realized by adopting a cut optical fiber, the optical channel B17 of the cut optical fiber is adopted as a fixed-length optical path, and the optical path is continuously modulated according to a calibration signal during the out-of-field calibration until the requirement of the calibration distance is met.
In fig. 2, P1 is an input end of the optical path length adjustment distributor 7, and P2 is an output end of the optical path length adjustment distributor 7.
Preferably, the optical splitter 5 includes a measurement optical path output, a first internal optical path output, and a second internal optical path output.
In a specific embodiment, the light beam is output through the output end of the measuring light path, and propagates to the light receiving tube 4 through the measuring light path 18 to obtain measuring pulses; the light beam is output through the output end of the first internal light path, and the light beam propagates to the light receiving tube 4 along the first internal light path 9 to form a starting pulse of ranging; the light beam is output through the output end of the second internal optical path 10, the light beam propagates along the second internal optical path 10 to the light receiving tube 4 to form a reference pulse, and the optical path adjusting distributor 7 is arranged on the second internal optical path 10, so that the light beam propagates through the optical channels a16 and B17 to the light receiving tube 4 to form a first reference pulse and a second reference pulse.
The self-calibration method of the self-calibration system of the optical distance meter in the embodiment comprises the following steps:
step 1, a controller 1 acquires an initial starting pulse, an initial measuring pulse, a first reference pulse and a second reference pulse, and is used for judging whether an optical path is normal or not;
step 2, calculating the optical path difference between the optical path A16 and the optical path B17 in the calibration optical path adjustment distributor 7, and setting the optical path difference between the optical path A16 and the optical path B17 to be a specified value;
and 3, performing calibration measurement through the appointed value of the optical path difference.
In a specific embodiment, whether a system light path is normal or not is judged by acquiring an initial starting pulse, an initial measuring pulse, a first reference pulse, a second reference pulse and generation time, and difference data are recorded for comparing the calibrated pulse positions and judging whether the pulse generation time is normal or not in formal measurement; the optical path difference setting is set to a specified value to be used as a standard scale for measurement, so that corresponding ranging calibration is performed.
Preferably, the step 1 includes:
step 11, the controller 1 controls the light emitting tube 2 to emit one path of light beam;
step 12, the beam splitter 5 receives the light beam and distributes the light beam into a measuring light beam, a first inner light beam and a second inner light beam in proportion;
and 13, transmitting the measuring light beam to the light receiving tube 4 to form an initial measuring pulse by reflection of the measured object, transmitting the first internal light beam to the light receiving tube 4 along the first internal light path 9, forming an initial starting pulse on the light receiving tube 4, transmitting the second internal light beam along the second internal light path 10, respectively passing through the light channel A16 and the light channel B17 of the optical path adjusting distributor 7, and respectively irradiating the first reference pulse and the second reference pulse on the light receiving tube 4.
In a specific embodiment, the controller 1 records the time of acquiring the initial start pulse generated by the first internal light beam transmitted to the light receiving tube 4 along the first internal light path 9, the time of the measurement light beam transmitted to the light receiving tube 4 to form the initial measurement pulse after being reflected by the measured object, and the time of the second internal light beam transmitted to the light receiving tube 4 to generate the first reference pulse and the time of the second reference pulse after being transmitted to the light receiving tube 4 along the second internal light path 10 through the light channel a16 and the light channel B17 of the light path adjusting distributor 7, respectively.
Preferably, the step 2 includes:
step 21, shielding the emission lens 6, transmitting two light beams with different wavelengths to the light receiving tube 4, respectively generating a third reference pulse and a fourth reference pulse on the light receiving tube 4 through the light channel A16 and the light channel B17, respectively, and recording the time of generating the third reference pulse and the time of generating the fourth reference pulse, respectively, the time of the two light beams reaching the light receiving tube 4 through the first internal light path 9, and the first time difference of generating the third reference pulse and the fourth reference pulse;
step 22, calculating a rough value of the optical path difference between the optical path A16 and the optical path B17 of the optical path adjusting distributor 7 by using the first time difference for generating the third reference pulse and the fourth reference pulse, and determining the corresponding modulation frequency by the rough value;
step 23, respectively emitting two light beams with the same wavelength as that in step 21, modulating the frequencies of the two light beams by controlling a modulating frequency generator 3, and respectively carrying out frequency mixing operation on the light receiving tube 4 after modulating the two light beams to obtain two corresponding phase information;
step 24, calculating an accurate value of the optical path difference between the optical path A16 and the optical path B17 of the optical path adjusting distributor 7 through two corresponding phase information;
step 25, the optical path of the optical channel B17 of the optical path adjusting distributor 7 is adjusted, so that the accurate value of the optical path difference between the optical channel A16 and the optical channel B17 of the optical path adjusting distributor 7 accords with a specified value, a second time difference corresponding to the specified value is calculated, and the specified value and the second time difference are uploaded to the controller 1.
Preferably, the step 21 includes:
step 211, shielding the emission lens 6, the controller 1 is in a calibration mode;
step 212, the controller 1 controls the emission wavelength of the light emitting tube 2 to be lambda 7a The beam splitter 5 splits the first beam into a third inner beam and a fourth inner beam, the third inner beam being transmitted along a first inner optical path 9 to the light receiving tube 4, the controller 1 registering a time t0 at which the third inner beam is transmitted along the first inner optical path 9 to the light receiving tube 4, the fourth inner beam being transmitted along a second inner optical path 10 to the optical path adjustment distributor 7, the wavelength being selected to be λ by a wavelength division multiplexer 12 of the optical path adjustment distributor 7 7a The fourth inner beam propagates to the light receiving tube 4 through the optical channel a16 to form a third reference pulse, and the controller 1 records the time ta1 when the third reference pulse is generated;
step 213, the controller 1 controls the emission wavelength of the light emitting tube 2 to be lambda 7b The beam splitter 5 splits the second beam into a fifth inner beam and a sixth inner beam, the fifth inner beam being transmitted along the first inner optical path 9 to the light receiving tube 4, the controller 1 registering a time t1 at which the fifth inner beam is transmitted along the first inner optical path 9 to the light receiving tube 4, the sixth inner beam being transmitted along the second inner optical path 10 to the optical path adjustment distributor 7, the wavelength being selected to be λ by the wavelength division multiplexer 12 of the optical path adjustment distributor 7 7b The sixth internal light beam propagates through the optical channel B17 to the light receiving tube 4 to form a fourth reference pulse, the controller1 recording the time tb1 at which the fourth reference pulse is generated;
step 214, overlapping t0 and t1 on the coordinate axis, and calculating a first time difference between the third reference pulse and the fourth reference pulse on the coordinate axis.
Wherein lambda is 7a Is the channel wavelength lambda of the optical channel A16 7b Is the channel wavelength of optical channel B17.
Preferably, the step 23 includes:
step 231, the controller 1 controls the emission wavelength of the light emitting tube 2 to be lambda 7a The first light beam is modulated by controlling the output frequency fa of the modulation frequency generator 3, and the output frequency fb is output to the light receiving tube 4, the modulated first light beam is respectively transmitted to the light receiving tube 4 along the first internal light path 9 and the light channel A16 of the light path adjusting distributor 7, and then is mixed with the frequency fb on the light receiving tube 4 to generate phase information PHA, and the phase information PHA corresponds to the light path difference information between the first internal light path 9 and the light channel A16 of the light path adjusting distributor 7;
step 232, the controller 1 controls the emission wavelength of the light emitting tube 2 to be lambda 7b And controls the output frequency fa of the modulation frequency generator 3 to modulate the second light beam, the second light beam is transmitted to the light receiving tube 4 along the first internal light path 9 and the light channel B17 of the light path adjusting distributor 7, and then mixed with the frequency fb on the light receiving tube 4 to generate phase information PHb, and the phase information PHb corresponds to the light path difference information between the first internal light path and the light channel B17 of the light path adjusting distributor 7.
In a specific embodiment, since the light propagates in the internal optical path for a short time, which has a fast requirement on the circuit speed of the instrument, when the optical path difference between the optical path a16 and the optical path B17 needs to be identified to be in the nanometer level, the optical path difference between the optical path a16 and the optical path B17 cannot be realized by a conventional circuit, so the invention solves the optical path difference between the optical path a16 and the optical path B17 according to the method of modulating the frequency. The high-frequency modulation frequency is shifted and then is differenced with the original frequency, the modulated frequency contains the phase information of the original high-frequency signal, the phase information of the original frequency can be obtained by phase discrimination of the modulated frequency, the resolution and the precision of phase discrimination are far greater than those of direct measurement of the light flight time, and therefore the optical path difference of the optical path A16 and the optical path B17 can be accurately obtained by modulating the frequency and phase discrimination. The calculated accurate values of the optical channels a16 and B17 correspond to a first time difference, and the distance generated in the time difference is the optical path difference between the optical channels a16 and B17.
Preferably, the step 3 includes:
step 31, the controller 1 controls the light emitting tube 2 to emit a third light beam with the wavelength lambda, the third light beam sequentially passes through the emitting lens 6, the external measured object 11 and the measuring light path 18 of the receiving lens 8 and generates corresponding measuring pulse in the light receiving tube 4, the time of the generated measuring pulse is recorded, the third light beam simultaneously propagates to the light receiving tube 4 through the first internal light path 9 and generates corresponding initial pulse in the light receiving tube 4, the time of the generated initial pulse is recorded, and the third time difference between the generated measuring pulse and the generated initial pulse is calculated;
and step 32, comparing the second time difference with the third time difference by taking the specified optical path difference and the corresponding second time difference as standard scales, and calculating to obtain a measured distance value through a comparison result of the second time difference and the third time difference and the optical path difference.
In a specific embodiment, the calculated optical path difference and time difference of the optical channel a16 and the optical channel B17 are used as standard scales, and the distance between the instrument and the object to be measured can be obtained by comparing the second time difference with the third time difference and performing corresponding distance conversion on the time difference, so that corresponding calibration calculation is realized. The emission wavelength lambda is also required in the measurement process 7a 、λ 7b The light is used for comparing the optical path difference between the first internal light path 9 and the optical channels A16 and B17, checking the accuracy and stability of the measurement of the system, and preventing the measurement error caused by unexpected change of a certain internal light in the system, thereby effectively improving the reliability of the system.
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 (8)
1. The self-calibration system of the optical range finder is characterized by comprising a controller (1), an optical emission tube (2), a modulation frequency generator (3), an optical receiving tube (4), an optical splitter (5), an emission lens (6), an optical path adjusting distributor (7) and a receiving lens (8), wherein the controller (1) is respectively connected to the optical emission tube (2) and the modulation frequency generator (3), the modulation frequency generator (3) is respectively connected to the optical emission tube (2) and the optical receiving tube (4), the optical receiving tube (4) is connected to the controller (1), the optical emission tube (2) is connected with the optical splitter (5), the emission lens (6) is arranged between the optical splitter (5) and an external measured object (11), the receiving lens (8) is arranged between the optical receiving tube (4) and the external measured object (11), a first inner optical path (9) and a second inner optical path (10) are arranged between the optical splitter (5) and the optical receiving tube (4), and the optical path adjusting distributor (7) with two optical channels inside the second inner optical path (10) is arranged;
the optical path adjusting distributor (7) comprises a wavelength division multiplexer (12), an optical channel A (16), an optical channel B (17) and a beam combiner (14), wherein the wavelength division multiplexer (12) is used for adjusting the direction of an optical path, the output end of the wavelength division multiplexer (12) is respectively connected with the optical channel A (16) and the optical channel B (17), the optical channel A (16) and the optical channel B (17) are connected with the beam combiner (14), a base (15) is arranged on the optical channel B (17), and a plurality of groups of reflectors (13) are fixed on the base (15).
2. An optical rangefinder self-calibration system according to claim 1, characterized in that the beam splitter (5) comprises a measurement light path output, a first internal light path output and a second internal light path output.
3. A method of self-calibrating an optical rangefinder self-calibration system according to any of claims 1-2, comprising the steps of:
step 1, a controller (1) acquires an initial starting pulse, an initial measuring pulse, a first reference pulse and a second reference pulse, and is used for judging whether an optical path is normal or not;
step 2, calculating the optical path difference between the optical channel A (16) and the optical channel B (17) in the calibration optical path adjustment distributor (7), and setting the optical path difference between the optical channel A (16) and the optical channel B (17) to a specified value;
and 3, performing calibration measurement through the appointed value of the optical path difference.
4. A method for self-calibrating an optical rangefinder self-calibration system according to claim 3, wherein said step 1 comprises:
step 11, a controller (1) controls a light emitting tube (2) to emit one path of light beam;
step 12, the beam splitter (5) receives the light beam and distributes the light beam into a measuring light beam, a first inner light beam and a second inner light beam in proportion;
and 13, transmitting the measuring light beam to the light receiving tube (4) through reflection of the measured object to form an initial measuring pulse, transmitting the first inner light beam to the light receiving tube (4) along a first inner light path (9), forming an initial starting pulse on the light receiving tube (4), transmitting the second inner light beam along a second inner light path (10), respectively passing through the light channel A (16) and the light channel B (17) of the optical path adjusting distributor (7), and respectively irradiating the first reference pulse and the second reference pulse on the light receiving tube (4).
5. A method for self-calibrating an optical rangefinder self-calibration system according to claim 3, wherein said step 2 comprises:
step 21, shielding the emission lens (6), transmitting two light beams with different wavelengths to the light receiving tube (4), respectively generating a third reference pulse and a fourth reference pulse on the light receiving tube (4) through the light channel A (16) and the light channel B (17), respectively recording the time for generating the third reference pulse and the time for generating the fourth reference pulse, respectively, and generating a first time difference between the time for the two light beams to reach the light receiving tube (4) through the first inner light path (9) and the time for generating the third reference pulse and the fourth reference pulse;
step 22, calculating a rough value of the optical path difference between the optical channel A (16) and the optical channel B (17) of the optical path adjusting distributor (7) by using the first time difference for generating the third reference pulse and the fourth reference pulse, and determining a corresponding modulation frequency through the rough value;
step 23, respectively emitting two light beams with the same wavelength as that in step 21, modulating the frequencies of the two light beams by controlling a modulation frequency generator (3), and respectively carrying out frequency mixing operation on the light receiving tube (4) after the two light beams are modulated to obtain two corresponding phase information;
step 24, calculating an accurate value of the optical path difference between the optical channel A (16) and the optical channel B (17) of the optical path adjusting distributor (7) through two corresponding phase information;
and 25, adjusting the optical path of the optical channel B (17) of the optical path adjusting distributor (7) to enable the accurate value of the optical path difference between the optical channel A (16) and the optical channel B (17) of the optical path adjusting distributor (7) to meet a specified value, calculating a second time difference corresponding to the specified value, and uploading the specified value and the second time difference to the controller (1).
6. The method for self-calibration of an optical rangefinder self-calibration system of claim 5 wherein step 21 comprises:
step 211, shielding the emission lens (6), wherein the controller (1) is in a calibration mode;
step 212, the controller (1) controls the emission wavelength of the light emitting tube (2) to be lambda 7a The beam splitter (5) splits the first beam into a third inner beam and a fourth inner beam, the third inner beam is transmitted to the light receiving tube (4) along a first inner optical path (9), the controller (1) records the time t of the third inner beam transmitted to the light receiving tube (4) along the first inner optical path (9) 0 The fourth internal light beam propagates along a second internal light path (10) to an optical path adjustment distributor (7), and the wavelength lambda is selected by a wavelength division multiplexer (12) of the optical path adjustment distributor (7) 7a The fourth internal light beam propagates to the light receiving tube (4) through the light channel A (16) to form a third reference pulse, and the controller (1) records the time t of the generation of the third reference pulse a1 ；
213, the controller (1) controls the emission wavelength of the light emitting tube (2) to be lambda 7b The beam splitter (5) splits the second beam into a fifth inner beam and a sixth inner beam, the fifth inner beam being transmitted along a first inner optical path (9) to the light receiving tube (4), the controller (1) registering a time t of the transmission of the fifth inner beam along the first inner optical path (9) to the light receiving tube (4) 1 The sixth internal light beam propagates along the second internal light path (10) to the optical path adjustment distributor (7), and the wavelength lambda is selected by the wavelength division multiplexer (12) of the optical path adjustment distributor (7) 7b The sixth internal light beam propagates to the light receiving tube (4) through the light channel B (17) to form a fourth reference pulse, and the controller (1) records the time t of the fourth reference pulse generation b1 ；
Step 214, let t 0 ，t 1 The first time difference between the third reference pulse and the fourth reference pulse on the coordinate axis is calculated.
7. The method for self-calibration of an optical rangefinder self-calibration system of claim 6 wherein step 23 comprises:
231, the controller (1) controls the emission wavelength of the light emitting tube (2) to be lambda 7a And controls the output frequency f of the modulation frequency generator (3) a Modulate the first light beam while outputting the frequency f b To the light receiving tube (4), the modulated first light beam propagates to the light receiving tube (4) along a first inner light path (9) and a light channel A (16) of the light path adjusting distributor (7), respectively, and then is combined with a frequency f on the light receiving tube (4) b Mixing to generate phase information PHa, wherein the phase information PHa corresponds to optical path difference information between a first internal optical path (9) and an optical path where an optical path A (16) of an optical path adjusting distributor (7) is positioned;
step 232, the controller (1) controls the emission wavelength of the light emitting tube (2) to be lambda 7b And controls the output frequency f of the modulation frequency generator (3) a Modulating a second light beam, which is transmitted to the light receiving tube (4) along the first internal light path (9) and the light channel B (17) of the light path adjusting distributor (7), and then to the frequency f on the light receiving tube (4) b Mixing is performed to generate phase information PHb corresponding to optical path difference information between the first internal optical path and an optical path where an optical path B (17) of an optical path adjustment distributor (7) is located.
8. A method for self-calibrating an optical rangefinder self-calibration system according to claim 3, wherein said step 3 comprises:
step 31, the shielding emission lens (6) is removed, the controller (1) controls the light emission tube (2) to emit a third light beam with the wavelength lambda, the third light beam sequentially passes through the emission lens (6), an external measured object (11) and a measuring light path (18) of the receiving lens (8) and generates corresponding measuring pulses in the light receiving tube (4), the time of the generated measuring pulses is recorded, the third light beam simultaneously propagates to the light receiving tube (4) through the first inner light path (9) and generates corresponding initial pulses in the light receiving tube (4), the time of generating the initial pulses is recorded, and the third time difference between the generated measuring pulses and the generated initial pulses is calculated;
and step 32, comparing the second time difference with the third time difference by taking the specified optical path difference and the corresponding second time difference as standard scales, and calculating to obtain a measured distance value through a comparison result of the second time difference and the third time difference and the optical path difference.
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| JP2020012641A (en) * | 2018-07-13 | 2020-01-23 | 株式会社光コム | Distance meter, distance measuring method, and optical three-dimensional shape measuring device |
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