Study On Measurement Technology Of Synchronously Detecting Multiple Light Beams With One Position-Sensitive Detector (PSD)

Object's pose (position and attitude) measurement is widely used in the areas of robots manipulation, industrial detection, fiber connection, spaceflight and military, which has widespread interest in scientific research and practicality. In a photoelectric pose measurement system, it has become a research insterst that how to acquire enough pose information from multiple light beams with one single photoelectric detector which makes the technology of synchronously detecting multiple light beams take on widespread application value. This paper has presented and studied the method of detecting multiple light beams synchronously with one PSD by frequency division multiplexing, and implemented the academic analysis and experimental research based on amplitude detection and phase detection.The main work completed is summarized as follows:Firstly, the academic analysis and experimental research on detecting multiple light beams synchronously have been implemented with the aid of amplitude detection, which demonstrates that the technology is feasibilly and practically in application of the stereo vision measurement. Two light beams modulated by different frequency have been synchronously detected with frequency division multiplexing. The system's ability of anti-interference has been enhanced as the circuit of canceling background light has been used. A pose measurement system based on binocular stereo vision has been worked out to detect the pose of the multi-DOF platform.Secondly, the academic analysis of detecting multiple light beams synchronously based on phase detection has been done. The simulation experiment has been accomplished with MATLAB, and the experiment of detecting single light beam through phase detection method has been carried out, which demonstrates that this technology can be used to detect the multiple light beams synchronously.Finaly, two methods of experimental system of detecting multiple light beams synchronously has also been researched. The experimental results show that the technology with amplitude detection is well-suited to the photoelectric pose measurement, which has the advantages such as high precision, no interference between multiple light beams, better linearity, less relying on working condition, and that the technology of determining position based on phase detection is also suited to multiple DOF measurement, which has the advantages of high precision, simple signal processing circuit, low cost, thus makes the technology have widespread application prospective.In conlusion, it is well-suited to the photoelectric pose measurement system to detect multiple light beams with one singl PSD synchronously, which makes it have the characteristics of impact structure, handy task of installing and debugging, less cost, high precision and real-time meausurement...