CN211043674U - Reference beam type laser Doppler speed measuring probe - Google Patents
Reference beam type laser Doppler speed measuring probe Download PDFInfo
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- CN211043674U CN211043674U CN201921301787.XU CN201921301787U CN211043674U CN 211043674 U CN211043674 U CN 211043674U CN 201921301787 U CN201921301787 U CN 201921301787U CN 211043674 U CN211043674 U CN 211043674U
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Abstract
The utility model provides a reference beam type laser Doppler speed probe, set up little contained angle beam splitter prism on the laser path before reference beam type laser Doppler speed probe its laser incides the driving surface, the laser that reference beam type laser Doppler speed probe incides on the driving surface is incided on the driving surface by two bundles of emergent lights that little contained angle beam splitter prism divide the contained angle into α, two bundles of ground scattered light that return along two bundles of emergent lights original direction are regarded as signal light together, reference light and signal light in the reference beam type laser Doppler speed probe mix on the photosensitive surface of the photoelectric detector in reference beam type laser Doppler speed probe, photoelectric detector collects reference light and signal light mixing and forms Doppler signal, the utility model discloses can solve the difficult calibration of installation angle and the problem that vehicle jolts and influence measurement accuracy during the measurement.
Description
Technical Field
The utility model relates to a laser technical field that tests the speed especially relates to a Doppler's speed probe that tests the speed, and it is an instrument for measuring vehicle velocity of motion.
Background
The common measurement modes of the laser doppler velocimeter are three types: reference light mode, self-mixing mode, and dual beam differential mode. In the vehicle-mounted application of the laser Doppler velocimeter, the reference light mode is most suitable. On one hand, the distance between the vehicle and the ground is constantly changed in the running process of the vehicle, the defocusing measurement cannot be carried out in the dual-beam differential mode, and the signal loss can be caused by the vertical jolt of the vehicle; on the other hand, the speed is measured by detecting the fluctuation frequency of the light intensity output by the rear end of the laser in the self-mixing mode, and the measurement accuracy of the Doppler frequency is greatly influenced by the change of the working current and the external temperature, so that the speed measurement accuracy of the self-mixing mode is not high.
The optical path structure of the conventional vehicle-mounted reference light mode laser velocimeter is shown in fig. 1. The whole laser velocimeter is fixedly connected to the vehicle type carrier to measure the movement speed of the vehicle relative to the ground. Laser emitted by the laser is collimated by the collimating mirror, and then is divided into two beams of light with equal intensity by the beam splitter, one beam of light returns along the original direction through the attenuation sheet and the total reflection mirror, and is incident on the photoelectric detector through the beam splitter, the optical filter and the small-hole diaphragm to be reference light; the other beam is incident on the moving surface, scattered light exists in all directions, and the scattered light returning along the original direction is received by the photoelectric detector through the beam splitter, the optical filter and the small aperture diaphragm to be signal light. The reference light is mixed with the signal light on the photo-sensitive surface of the photodetector. Due to the square rate effect of the photodetector, the voltage signal output by the photodetector contains the difference frequency (i.e. doppler frequency) term of the two light beams, the doppler frequency being
Wherein f isDIs the doppler frequency, λ is the laser wavelength, θ is the laser launch tilt angle of the velocity measurement system, and v is the vehicle speed of motion. By detecting Doppler frequency, the moving speed of the vehicle can be calculated
From the equation (2), the speed to be measured is closely related to the emission inclination angle. In the actual running process, the vehicle often jolts, the laser emission inclination angle of the speed measurement system changes, and the measured speed is inaccurate.
In order to solve the measurement error caused by the change of the laser emission inclination angle, Zhoujian and the like use two sets of subsystems with Janus configuration structures to respectively emit laser beams to the ground in the directions of the vehicle head and the vehicle tail at the same emission inclination angle, keep the same emission frequency, and measure respective Doppler frequency, so that the change quantity of the laser emission inclination angle is calculated, and the movement speed of the carrier is obtained. The method obviously improves the speed measurement precision, but has the obvious defects that two sets of laser Doppler velocimeters are used, so that the optical path structure of the velocimeter and the whole structure of the system are more complicated, the reliability is reduced, and the cost is greatly increased.
SUMMERY OF THE UTILITY MODEL
The above-mentioned defect that exists to current traditional reference light mode laser velocimeter, the utility model aims at providing a reference beam type laser Doppler speed probe, it is through setting up little contained angle beam splitter prism on its laser beam of incidenting the laser path in front of the driving surface at reference beam type laser Doppler speed probe, laser through little contained angle beam splitter prism incidenting reference beam type laser Doppler speed probe on the driving surface falls into the contained angle and is α two bundles of oblique incidence asymmetric laser beams, utilizes two bundles of oblique incidence asymmetric laser beams as the emergent light, the contained angle measurement vehicle for the speed of driving surface according to two bundles of Doppler frequency that the emergent light corresponds and two bundles of emergent light, the utility model discloses an emergent light utilizes two bundles of oblique incidence asymmetric laser beams to replace a traditional oblique incidence laser, can solve when measuring the measurement the difficult demarcation of installation angle and the vehicle problem that jolts and influence measurement accuracy.
In order to realize the purpose of the utility model, the following technical scheme is adopted to realize:
the utility model discloses an asymmetric on-vehicle laser speed sensor of two oblique rays, this speed sensor installs and moves along with the carrier on the carrier, measures the velocity of motion of carrier for the surface of traveling, this speed sensor includes reference beam type laser Doppler speed probe and signal processing unit, reference beam type laser Doppler speed probe incides the laser on the surface of traveling and collects the scattered light and forms the detected signal, the detected signal transmission of reference beam type laser Doppler speed probe output to signal processing unit, signal processing unit realizes speed and calculates.
The utility model provides a reference beam type laser Doppler speed measuring probe, including laser instrument, compression collimating lens group, beam splitter, decay piece, the mirror that reflects entirely, light filter, aperture diaphragm, photoelectric detector and little contained angle beam splitter prism.
Laser emitted by a laser is compressed and collimated by a compression collimating lens group and then enters a beam splitter, the laser is split into two beams of laser with equal intensity by the beam splitter, one beam of laser penetrates through an attenuation sheet and enters a total reflection mirror, then is reflected to the attenuation sheet again for attenuation, and then is received by a photoelectric detector after passing through the beam splitter, an optical filter and a small-hole diaphragm, the other beam of laser is split into two beams of emergent light with an included angle of α by a small-included-angle beam splitter prism and enters a driving surface, the two beams of emergent light are respectively a 1# emergent beam and a 2# emergent beam, two beams of ground scattered light returning along the original direction of the two beams of emergent light are used as signal light together, the signal light comprises scattered light returning along the original direction of the 1# emergent beam and scattered light returning along the original direction of the 2# emergent beam, the signal light is received by the photoelectric detector after passing through the small-included-angle beam splitter, the optical filter and the small-hole diaphragm, the reference light and the signal light.
The scattered light returning along the original direction of the outgoing beam No. 1 and the reference light are mixed on the photosensitive surface of the photoelectric detector to form a Doppler signal, and the Doppler signal is output along the direction No. 2Mixing scattered light returned from the original direction of the emergent beam with reference light on a photosensitive surface of a photoelectric detector to form Doppler signals, wherein the Doppler signals detected by the photoelectric detector comprise two different Doppler frequencies, inputting the Doppler signals detected by the photoelectric detector into a signal processing unit, and extracting the Doppler frequency f corresponding to the 1# emergent beam by the signal processing unitD1Doppler frequency f corresponding to 2# outgoing beamD2And realizing speed calculation.
The method for realizing the speed calculation by the signal processing unit is as follows:
doppler frequency f corresponding to 1# outgoing beamD1Doppler frequency f corresponding to 2# outgoing beamD2The following relationships are present:
α is the included angle between the 1# outgoing beam and the 2# outgoing beam, the size of the included angle is determined by a small included angle beam splitter prism, the accurate value of the included angle beam splitter prism is provided by a manufacturer, theta is the emission inclination angle of the 1# outgoing beam, and theta + α is the emission inclination angle of the 2# outgoing beam.
The following can be obtained:
by detecting the Doppler frequency f corresponding to the 1# emergent beamD1Doppler frequency f corresponding to 2# outgoing beamD2The speed v of the vehicle can be calculated by combining the known included angle α between the two emergent lights.
The utility model discloses in, signal processing method and biography in the signal processing unitThe method of the conventional signal processing unit is also based on FFT spectrum analysis, but is different from the method of the conventional signal processing unit in that only one Doppler spectrum peak is searched, and the signal processing method in the dual-spectrum peak processing unit needs to search two Doppler spectrum peaks at the same time and then carries out velocity calculation. The method comprises the following specific steps: inputting Doppler signals detected by a photoelectric detector into a signal processing unit, firstly performing autocorrelation spectrum analysis to obtain autocorrelation spectrums of the Doppler signals, then searching for a maximum peak, and resolving according to the position of the maximum peak to obtain a first Doppler frequency; then, the maximum peak is searched again after the maximum peak and the frequency spectrum nearby the maximum peak are filtered out from the original autocorrelation spectrum, the second Doppler frequency is obtained by resolving according to the position of the maximum peak obtained by searching again, finally, acceleration discrimination is carried out according to the two obtained Doppler frequencies, so that the corresponding relation between the two Doppler frequencies and the two emergent beams is determined, and the Doppler frequency f corresponding to the 1# emergent beam is obtainedD1Doppler frequency f corresponding to 2# outgoing beamD2。
The utility model discloses in, little contained angle beam split prism is formed by two prism veneer. The bonding surface between two prisms of the small-included-angle beam splitter prism is plated with a beam splitting film with the inverse ratio of 1:1, and the incident surface and the emergent surface of the small-included-angle beam splitter prism are both plated with antireflection films.
The utility model discloses in, the laser that reference beam type laser Doppler speed measuring probe incides on the driving surface is gone into by two bundles of emergent light that little contained angle beam splitter prism falls into the contained angle and incides on the driving surface for α two bundles of emergent light along the two bundles of former directions of emergent light return ground scattered light and be regarded as the signal light together, reference light and with the signal light carry out the mixing on reference beam type laser Doppler speed measuring probe's the photosensitive surface of photodetector in the probe, photodetector collects reference light and signal light mixing and forms Doppler signal transmission to signal processing unit, signal processing unit extracts the Doppler frequency that two bundles of emergent light correspond respectively, realize speed and resolve.
Compare the advantage with current laser doppler velocimeter and lie in:
(one) the utility model provides a double-oblique asymmetric on-vehicle laser speed sensor that penetrates, it adopts a reference beam type laser Doppler speed probe, and its laser of this probe incides and sets up little contained angle beam splitter prism on the laser path in front of the driving surface the utility model discloses utilize two bundles of laser homoclines of little contained angle beam splitter prism outgoing to incide subaerially ingeniously, can calculate the functioning speed of vehicle according to the doppler frequency that two bundles of emergent light correspond and the contained angle of two bundles of emergent light, the speed v of vehicle operation only is relevant with the contained angle α of two bundles of emergent light, and is irrelevant with the transmission inclination theta and the theta + α of two bundles of emergent light, has eliminated the influence of the change that jolts in the vehicle operation process and lead to the transmission inclination to speed measurement accuracy.
(two) utilize the utility model provides a pair of asymmetric on-vehicle laser speed sensor is penetrated to two slants, can also measure emission inclination theta and theta + α of two bundles of emergent light in real time according to the doppler frequency that two bundles of emergent light correspond and the contained angle of two bundles of emergent light, can be in order to try to get the change of carrier at the operation in-process angle of pitch.
(III) the utility model provides a reference beam type laser Doppler speed probe has only increased a little contained angle beam splitter prism on the basis of traditional reference beam mode structure, just can realize surveying the Doppler frequency that two bundles of emergent lights correspond simultaneously, has avoided causing the speed measurement inaccurate or need revise the scheduling problem to Doppler frequency because can not acquire two Doppler frequencies in real time. The utility model discloses advantages such as device simple structure, reliability height and with low costs have been kept.
Drawings
Fig. 1 is a light path configuration diagram of a conventional vehicle-mounted reference light mode laser velocimeter.
Fig. 2 is a light path structure diagram of the present invention.
Fig. 3 is a light path structure diagram of a small-included-angle beam splitter prism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the drawings of the embodiments of the present invention, and further detailed description will be given, but the embodiments of the present invention are not limited thereto.
Refer to fig. 2, do the utility model discloses an optical path structure chart, a pair of oblique asymmetric on-vehicle laser speed sensor that penetrates, speed sensor installs and moves along with the carrier on carrier (generally the vehicle), measures the velocity of motion of carrier for the driving surface. The speed measuring device comprises a reference beam type laser Doppler speed measuring probe and a signal processing unit 10.
The utility model provides a reference beam type laser Doppler speed probe sets up little contained angle beam splitter prism on its laser of reference beam type laser Doppler speed probe incides the laser path in front of the driving surface. Specifically, the reference beam type laser Doppler velocity measurement probe comprises a laser 1, a compression collimating lens group 2, a beam splitter 3, an attenuation sheet 4, a total reflection mirror 5, an optical filter 6, an aperture diaphragm 7, a photoelectric detector 8 and a small-included-angle beam splitter prism 9. The laser 1 may be a single longitudinal mode solid state laser.
Laser emitted by a laser 1 is compressed and collimated by a compression collimating lens group 2 and then enters a beam splitter 3, the laser is split into two beams of laser with equal intensity by the beam splitter 3, one beam of laser penetrates through an attenuation sheet 4 and then enters a total reflection mirror 5, and then is reflected again to the attenuation sheet 4 for attenuation, and then passes through the beam splitter 3, an optical filter 6 and a small aperture diaphragm 7 to be received by a photoelectric detector 8 as reference light, the other beam of laser is split into two beams of emergent light with an included angle of α by a small included angle beam splitter prism 9 and then enters a driving surface, the two beams of emergent light are respectively a 1# emergent beam 11 and a 2# emergent beam 12, two beams of ground scattered light returning along the original direction of the two beams of emergent light serve as signal light together, the signal light comprises scattered light returning along the original direction of the 1# emergent beam and scattered light returning along the original direction of the 2# emergent beam, and the signal light with the small included angle is received by the photoelectric detector 8 after passing.
The reference light and the signal light are mixed on the photosensitive surface of the photodetector 8, the photodetector 8 collects the reference light and the signal light, the reference light and the signal light are mixed to form a Doppler signal, and the collected Doppler signal is processed by the signal processing unit 10 to extract a corresponding Doppler frequency. Specifically, the scattered light returning in the original direction of the 1# outgoing beam is mixed with the reference light on the photosensitive surface of the photodetector 8 to form a doppler signal, and the doppler signal is emitted in the original direction of the 2# outgoing beamThe returned scattered light and the reference light are mixed on a photosensitive surface of the photoelectric detector 8 to form a Doppler signal, the Doppler signal detected by the photoelectric detector 8 comprises two different Doppler frequencies, the Doppler signal detected by the photoelectric detector 8 is input into the signal processing unit 10, and the Doppler frequency f corresponding to the 1# outgoing beam is extracted by the signal processing unit 10D1Doppler frequency f corresponding to 2# outgoing beamD2And realizing speed calculation.
α is the included angle between the 1# outgoing beam and the 2# outgoing beam, the size of the included angle is determined by a small included angle beam splitter prism, the accurate value of the included angle beam splitter prism is provided by a manufacturer, theta is the emission inclination angle of the 1# outgoing beam, and theta + α is the emission inclination angle of the 2# outgoing beam.
It is possible to obtain,
as can be seen from equation (5), by detecting the Doppler frequency f corresponding to the 1# outgoing beamD1Doppler frequency f corresponding to 2# outgoing beamD2Obviously, the running speed v of the vehicle can be calculated by combining the known included angle α of the two emergent lights, the running speed v of the vehicle is only related to the included angle α of the two emergent lights and is not related to the emission inclination angles theta and theta + α of the two emergent lights, namely, the emission inclination angles are changed due to bumping in the running process of the vehicle, the running speed of the vehicle cannot be influenced, in addition, the emission inclination angles theta and theta + α of the two emergent lights can also be obtained by the Doppler frequency fD1、fD2And the included angle α of the two emergent lights are obtained in real time.
The small and medium included angle beam splitter prism 9 of the present invention is formed by gluing two prisms, as shown in fig. 3, the glued surface between the two prisms is plated with a beam splitter film with a transmittance inverse ratio of 1:1, and the incident surface and the emergent surface of the small included angle beam splitter prism are both plated with an anti-reflection film.
The utility model discloses contain two different Doppler frequency f in the Doppler signal that photoelectric detector detectedD1And fD2Therefore, the utility model provides a bispectrum peak processing unit that signal processing unit adopted, the main function is two doppler frequencies of accurate extraction. Although the signal processing method in the bispectrum peak processing unit is the same as that of the traditional signal processing unit and is also based on FFT spectrum analysis, the method is different from that of the traditional signal processing unit in that only one Doppler spectrum peak is searched, and the signal processing method in the bispectrum peak processing unit needs to search two Doppler spectrum peaks at the same time and then carries out velocity calculation. Referring to fig. 3, the flow is as follows: inputting the Doppler signal detected by the photoelectric detector into a signal processing unit, firstly carrying out autocorrelation spectrum analysis to obtain an autocorrelation spectrum of the Doppler signal, then searching for a maximum peak, and resolving according to the position of the maximum peak to obtain a first Doppler frequency; then, the maximum peak is searched again after the maximum peak and the frequency spectrum nearby the maximum peak are filtered out from the original autocorrelation spectrum, the second Doppler frequency is obtained by resolving according to the position of the maximum peak obtained by searching again, finally, acceleration discrimination is carried out according to the two obtained Doppler frequencies, so that the corresponding relation between the two Doppler frequencies and the two emergent beams is determined, and the Doppler frequency f corresponding to the 1# emergent beam is obtainedD1Doppler frequency f corresponding to 2# outgoing beamD2。
In summary, although the present invention has been described with reference to the preferred embodiments, it should be understood that the present invention is not limited thereto, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention.
Claims (4)
1. The utility model provides a reference beam type laser Doppler speed probe, this speed probe installs and moves its characterized in that along with the carrier on the carrier: a small included angle beam splitter prism is arranged on a laser path of the reference beam type laser Doppler speed measuring probe, wherein laser is incident to the front of a driving surface.
2. The reference beam type laser doppler velocimetry probe of claim 1, characterized in that: the device comprises a laser, a compression collimating lens group, a beam splitter, an attenuation sheet, a total reflection mirror, an optical filter, a small-hole diaphragm, a photoelectric detector and a small-included-angle beam splitter prism;
laser emitted by a laser is compressed and collimated by a compression collimating lens group and then enters a beam splitter, the laser is split into two beams of laser with equal intensity by the beam splitter, one beam of laser penetrates through an attenuation sheet and enters a total reflection mirror, then is reflected to the attenuation sheet again for attenuation, and then is received by a photoelectric detector after passing through the beam splitter, an optical filter and a small-hole diaphragm, the other beam of laser is split into two beams of emergent light with an included angle of α by a small-included-angle beam splitter prism and enters a driving surface, the two beams of emergent light are respectively a 1# emergent beam and a 2# emergent beam, two beams of ground scattered light returning along the original direction of the two beams of emergent light are used as signal light together, the signal light comprises scattered light returning along the original direction of the 1# emergent beam and scattered light returning along the original direction of the 2# emergent beam, the signal light is received by the photoelectric detector after passing through the small-included-angle beam splitter, the optical filter and the small-hole diaphragm, the reference light and the signal light.
3. The reference beam type laser doppler velocimetry probe of claim 2, characterized in that: the small included angle beam splitting prism is formed by gluing two prisms.
4. The reference beam type laser doppler velocimetry probe of claim 3, characterized in that: the bonding surface between two prisms of the small-included-angle beam splitter prism is plated with a beam splitting film with the inverse ratio of 1:1, and the incident surface and the emergent surface of the small-included-angle beam splitter prism are both plated with antireflection films.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110398749A (en) * | 2019-08-13 | 2019-11-01 | 湖南波恩光电科技有限责任公司 | A kind of diclinic penetrates asymmetric vehicle-mounted laser speed measuring device |
| CN113551877A (en) * | 2021-07-23 | 2021-10-26 | 深圳华中科技大学研究院 | Weak light detection system for testing ultralow background scattering |
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2019
- 2019-08-13 CN CN201921301787.XU patent/CN211043674U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110398749A (en) * | 2019-08-13 | 2019-11-01 | 湖南波恩光电科技有限责任公司 | A kind of diclinic penetrates asymmetric vehicle-mounted laser speed measuring device |
| WO2021027465A1 (en) * | 2019-08-13 | 2021-02-18 | 北京航天光新科技有限公司 | Double-oblique-incidence asymmetric vehicle-mounted laser speed measurement device |
| US11525919B2 (en) | 2019-08-13 | 2022-12-13 | Beijing Hangtianguangxin Technology Company Limited | Vehicle-mounted laser velocity measurement device |
| CN110398749B (en) * | 2019-08-13 | 2024-03-01 | 北京航天光新科技有限公司 | Double oblique incidence asymmetric vehicle-mounted laser speed measuring device |
| CN113551877A (en) * | 2021-07-23 | 2021-10-26 | 深圳华中科技大学研究院 | Weak light detection system for testing ultralow background scattering |
| CN113551877B (en) * | 2021-07-23 | 2024-03-26 | 深圳华中科技大学研究院 | Weak light detection system for testing ultralow background scattering |
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