CN112595285B - Automatic contact net laser detector of aiming - Google Patents

Automatic contact net laser detector of aiming Download PDF

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CN112595285B
CN112595285B CN201910869321.8A CN201910869321A CN112595285B CN 112595285 B CN112595285 B CN 112595285B CN 201910869321 A CN201910869321 A CN 201910869321A CN 112595285 B CN112595285 B CN 112595285B
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contact line
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center
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CN112595285A (en
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李育冰
陈瑞峰
安小旭
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China Railway Electrification Engineering Group Co Ltd
Third Engineering Co Ltd of China Railway Electrification Engineering Group Co Ltd
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China Railway Electrification Engineering Group Co Ltd
Third Engineering Co Ltd of China Railway Electrification Engineering Group Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
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Abstract

The invention belongs to the technical field of laser detection, and particularly relates to an automatic aiming contact net laser detector, which consists of a track scale and a measuring instrument, wherein the track scale is internally provided with a track gauge measuring sensor, the measuring instrument is connected to the track scale, and coordinates of contact net contact lines are obtained through software solution after the measuring instrument finishes automatic aiming and angle distance measurement of images; the image sensor shoots an image and transmits the image to the main control board, and the main control board displays the image on a display screen for an operator to manually aim; and meanwhile, the main control board calculates the angle of the center of the contact line deviating from the center of the image sensor according to the image, and the main control board controls the servo motor to rotate, so that the image light path is aligned to the contact line, and the automatic aiming is finished. The invention also discloses a contact line position resolving method. The intelligent automatic aiming device has the beneficial technical effects of simple structure, convenience in operation, high intelligent automatic aiming precision and the like.

Description

Automatic contact net laser detector of aiming
Technical Field
The invention belongs to the technical field of laser detection, and particularly relates to an automatic aiming contact net laser detector and a contact line position resolving method.
Background
The overhead line system detector is used for detecting overhead line system parameters in a railway system. Currently known geometrical parameter detection equipment for overhead contact systems of electrified railways has three types: (1) The contact type insulating rod is matched with a graduated scale, and a hanging measurement method is adopted, so that the method is greatly influenced by the environment and has poor measurement precision. (2) The hand-held laser contact net detector has the advantages of high labor intensity of workers due to large weight of the detector, optical aiming, difficult aiming, low measuring speed and low degree of automation. (3) The overhead line parameter detection vehicle is characterized in that a measuring bow is arranged on a standard train body, the measuring bow is in contact with a contact net wire in the running process of the train, the pull-out value and the guide height of the overhead line are measured through a displacement sensor arranged in the measuring bow, and the overhead line parameter detection vehicle is suitable for irregular detection of an in-office line and is not suitable for daily overhaul maintenance of a power supply section of an electrified railway and construction detection of a construction unit. In the second type of equipment, an operator usually observes the contact line through a camera, and then rotates the camera to aim at the contact line by using a micro-motion hand wheel. The mode needs to be continuously adjusted manually and visually, is time-consuming and labor-consuming, has low efficiency, and is difficult to meet the requirement of rapid measurement.
CN2005201252538 discloses a hand-push type multifunctional laser contact net detector, which can be pushed on a track, adopts a camera for aiming, and simultaneously aims the optical axis and the distance measuring optical axis coaxially. The sighting is quick and convenient during static fixed-point measurement, and the precision is high. Aiming is not needed in the dynamic continuous measurement occasion, and full-automatic measurement is realized. The cross line generated by the camera is displayed on the liquid crystal display, and the superposition of the image of the tested contact net line and the cross line crossing point indicates that the contact net line is aimed.
CN2012201182643 discloses a full-automatic laser contact net detector, the contact net to be measured is found through the motion adjustment of the laser measuring instrument, and then the distance from the contact net to the rail plane is obtained after the measured data of the laser measuring instrument and the encoder device calculate the measured data.
In the above disclosed method, more manual intervention is required to successfully complete the automatic measurement.
Disclosure of Invention
In view of the above problems, the present invention has an object of: a contact net laser detector with automatic aiming and a contact line position resolving method are disclosed, camera images are automatically identified through a computer, position data of the contact line are obtained, and then the camera is rotated through a servo motor system to automatically aim at the contact line. The invention is realized by adopting the following technical scheme.
The utility model provides an automatic aiming's contact net laser detector, comprises track ruler, measuring apparatu, track ruler contains track gauge measuring transducer, and the measuring apparatu is connected on the track ruler, and the measuring apparatu is accomplished the automatic aiming of image and is measured with angle distance and is obtained the coordinate of contact net contact line through software solution; the method is characterized in that:
the measuring instrument consists of a measuring group, a display screen, a hand wheel, a main control board, a bracket, an angle measuring system, a servo motor driving system, a battery and a base connector, and is connected with the track ruler through the base connector; the measuring group, the angle measuring system and the servo motor driving system are coaxially arranged on the bracket, a first rotating shaft of the angle measuring system, a second rotating shaft of the servo motor driving system and first shafts on two sides of the measuring group are connected together to form an integral shaft, and the measuring group can rotate around the integral shaft; the measuring set consists of an image aiming system and a laser ranging system, and the image aiming system and the laser ranging system are installed in parallel; the image aiming system consists of an image sensor, an iris diaphragm, an imaging lens and a laser emission prism which are coaxially arranged in sequence from left to right; the center of the image sensor and the center of the imaging lens are connected to form an image light path; the aerial contact line is imaged on the image sensor through the imaging lens, and the iris diaphragm ensures that the image sensor can form clear images in both bright environment and low light environment;
the servo driving system consists of a servo motor, a high-speed gear, a low-speed gear, a worm and a worm wheel; the high-speed gear and the low-speed gear form a primary speed reduction structure, the worm wheel and the worm form a secondary speed reduction structure, the servo motor drives the high-speed gear during operation, the high-speed gear drives the low-speed gear to drive the worm to rotate, the worm drives the worm wheel to rotate, the worm wheel is connected with the measurement set through a second rotating shaft of the servo motor driving system, and the measurement set is driven to rotate, so that the purpose that the servo motor drives the measurement set to rotate is achieved;
when the device works, the image sensor shoots an image and transmits the image to the main control board, and the main control board displays the image on the display screen for an operator to manually aim; meanwhile, the main control board calculates the angle of the center of the contact line deviating from the center of the image sensor according to the image, and the main control board controls the servo motor to rotate so that the image light path is aligned with the contact line, and then automatic aiming is completed;
the measurement group can aim at the contact line in any direction; the operator can also manually aim at the contact line through the hand wheel, the measuring group 3 has an image aiming function and a laser ranging function, the distance L between the contact line and the center of the measuring instrument can be measured, the angle measuring system can measure the angle theta of the contact line deviating from the zenith direction of the measuring instrument, so that the polar coordinates (L, theta) of the contact line in the coordinate system of the measuring instrument are obtained, the height H=L×cos theta of the contact line deviating from the center of the track ruler is obtained, and the horizontal deviation value is D=L×sin theta.
The automatic aiming contact net laser detector is characterized in that in the servo driving system, the low-speed gear and the worm wheel are composed of two plates, and springs are arranged between the two plates to carry out staggered teeth.
The automatic aiming contact net laser detector is characterized in that the first-stage reduction ratio of the servo driving system is 1:4, the second-stage reduction ratio is 1:184, and the servo motor is 1/4096 subdivided.
The automatic aiming contact net laser detector is characterized in that the minimum resolution of the servo driving system is 0.43'.
The automatic aiming contact net laser detector is characterized in that the contact line position calculating method comprises the following steps:
the image sensor shoots a gray image, and the gray value is from 0 to 255; after receiving the image, the main control board makes a one-dimensional gray value section on the image to form a curve; the curve peak represents the center of the contact line;
firstly, calculating the width of a contact line to judge whether the contact line detected currently is the contact line to be detected or not, and eliminating the interference of other objects such as a dropper, a cantilever, a positioner and the like; the contact line width calculation formula is:
Figure BDA0002201517800000021
g s is a gray threshold value->
Figure BDA0002201517800000022
Is a gray value g s W is the pixel width of the image sensor, L is the distance from the contact line to the center of the measuring instrument, and f' is the focal length of the imaging lens;
then calculating the center position of the contact line, and adopting a weighted number calculation method with a threshold value, wherein the calculation formula is as follows:
Figure BDA0002201517800000031
wherein x is n X coordinate of nth pixel g n The gray value of the nth pixel, N is the total number of pixels of the image sensor in the X direction;
the calculation formula of the angle value of the contact line deviating from the center of the image is as follows:
Figure BDA0002201517800000032
wherein f' is the focal length of the imaging lens; />
After the deviation angle of the contact line is calculated, the servo driving system is controlled to rotate by a corresponding angle, so that the contact line image can be moved to the center of the image sensor, namely, the center of the contact line is automatically aimed.
In the present invention, the focal length f' of the imaging lens is 35mm, and the pixel width w of the image sensor is 0.0055mm. In actual detection, if the width d' of the contact line is 15mm and the distance L from the contact line to the center of the measuring instrument is 6m, the image width of the contact line is reversely calculated
Figure BDA0002201517800000033
Namely, when the distance x' between the center of the contact line and the center of the image sensor is calculated by 16 pixels according to the gray weight number, the position calculation with the accuracy of 0.2-0.3 pixel can be realized under the general illumination condition. The calculation error Δd '=0.3×w×l/f' =0.28 mm, which is far better than the human eye aiming accuracy.
The intelligent automatic aiming device has the beneficial technical effects of simple structure, convenience in operation, high intelligent automatic aiming precision and the like.
Drawings
Fig. 1 is a schematic view of the present invention in an installed state.
Fig. 2 is a schematic diagram of the front structure of the measuring instrument in the present invention.
Fig. 3 is a schematic view of the internal structure of the present invention.
Fig. 4 is a schematic structural diagram of a servo driving system according to the present invention.
Fig. 5 is a schematic structural diagram of the image aiming system of the present invention.
Fig. 6 is a polar schematic view of the contact line in the gauge coordinate system.
FIG. 7 is a block diagram of the connection control of the image sensor, the main control board, the servo motor and the display screen in the invention.
Fig. 8 is a schematic diagram of a one-dimensional gray value profile.
Wherein, the reference numerals corresponding to the components are as follows: track scale-1, measuring instrument-2, measuring group-3, display screen-4, hand wheel-5, support-6, angle measuring system-7, servo motor driving system-8, base connector-9, image sensor-10, iris diaphragm-11, imaging lens-12, laser emitting prism-13, contact line-151, worm wheel-14, worm-15, servo motor-16, high-speed gear-17, low-speed gear-18, main control board-50, third rotation axis-60, first rotation axis-70, first axis-71, second rotation axis-72, battery-80, image aiming system-90, laser ranging system-91, center of image sensor-100, imaging lens center-102, contact line position-103, image gray scale curve-104.
Detailed Description
In order that those skilled in the art may more accurately understand and practice the present application, the technical solutions of the present application will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1 to 8, an automatic aiming contact net laser detector is composed of a track scale 1 and a measuring instrument 2, wherein the track scale 1 is internally provided with a track gauge measuring sensor, the measuring instrument 2 is connected to the track scale, and coordinates of contact net contact lines are obtained through software solution after the measuring instrument 2 finishes automatic aiming and angle distance measurement of images; the method is characterized in that:
the measuring instrument 2 consists of a measuring group 3, a display screen 4, a hand wheel 5, a main control board 50, a bracket 6, an angle measuring system 7, a servo motor driving system 8, a battery 80 and a base connector 9, and the measuring instrument 2 is connected with a track ruler through the base connector 9; the measuring group 3, the angle measuring system 7 and the servo motor driving system 8 are coaxially arranged on the bracket 6, a first rotating shaft 70 of the angle measuring system 7, a second rotating shaft 72 of the servo motor driving system 8 and first shafts 71 on two sides of the measuring group 3 are connected together to form an integral shaft, and the measuring group can rotate around the integral shaft;
the measuring set 3 consists of an image aiming system 90 and a laser ranging system 91, and the image aiming system 90 and the laser ranging system 91 are installed in parallel; the image aiming system 90 consists of an image sensor 10, an iris diaphragm 11, an imaging lens 12 and a laser emission prism 13 which are coaxially arranged in sequence from left to right; the center 100 of the image sensor 10 and the center line of the imaging lens 12 form an image light path; the aerial contact line 151 is imaged on the image sensor 10 through the imaging lens 12, and the iris diaphragm 11 ensures that the image sensor can form clear images in both bright environment and low light environment;
the servo driving system 8 consists of a servo motor 16, a high-speed gear 17, a low-speed gear 18, a worm 15 and a worm wheel 14; the high-speed gear 17 and the low-speed gear 18 form a primary speed reduction structure, the worm wheel 14 and the worm 15 form a secondary speed reduction structure, the servo motor 16 drives the high-speed gear 17 during operation, the high-speed gear 17 drives the low-speed gear 18 to drive the worm 15 to rotate, the worm 15 drives the worm wheel 14 to rotate, the worm wheel 14 is connected with the measurement set 3 through a second rotating shaft 72 of the servo motor driving system 8, and the measurement set 3 is driven to rotate, so that the purpose that the servo motor 16 drives the measurement set 3 to rotate is achieved;
when the image sensor works, the image sensor 10 shoots an image and transmits the image to the main control board 50, and the main control board 50 displays the image on the display screen 4 for an operator to manually aim; meanwhile, the main control board calculates the angle of the center of the contact line deviating from the center of the image sensor according to the image, and the main control board controls the servo motor 16 to rotate so that the image light path is aligned with the contact line, and then automatic aiming is completed;
the measuring group 3 can aim at the contact line in any direction; the operator can also manually aim at the contact line through the hand wheel 5, the measuring group 3 has an image aiming function and a laser ranging function, the distance L between the contact line and the center of the measuring instrument can be measured, the angle measuring system 7 can measure the angle theta of the contact line deviating from the zenith direction of the measuring instrument, so that the polar coordinates (L, theta) of the contact line in the coordinate system of the measuring instrument are obtained, the height H=L×cos theta of the contact line deviating from the center of the track ruler is obtained, and the horizontal deviation value is D=L×sin theta.
The automatic aiming contact net laser detector is characterized in that in the servo driving system, the low-speed gear 18 and the worm gear 14 are formed by two plates, and springs are arranged between the two plates to carry out staggered teeth.
The automatic aiming contact net laser detector is characterized in that the first-stage reduction ratio of the servo driving system is 1:4, the second-stage reduction ratio is 1:184, and the servo motor is 1/4096 subdivided.
The automatic aiming contact net laser detector is characterized in that the minimum resolution of the servo driving system is 0.43'.
The automatic aiming contact net laser detector is characterized in that the image sensor is of CCD type and CMOS type.
The automatic aiming contact net laser detector is characterized in that the iris diaphragm is a shading sheet with a diaphragm as a center and a hole, and the two positions of the big hole and the small hole can be switched by using an electromagnet.
The automatic aiming contact net laser detector is characterized in that the imaging lens is a convex lens.
The automatic aiming contact net laser detector is characterized in that the laser emission prism is a right-angle reflection prism.
The automatic aiming contact net laser detector is characterized in that the contact line position calculating method comprises the following steps:
the image sensor shoots a gray image, and the gray value is from 0 to 255; after receiving the image, the main control board makes a one-dimensional gray value section on the image to form a curve; the curve peak represents the center of the contact line;
firstly, calculating the width of a contact line to judge whether the contact line detected currently is the contact line to be detected or not, and eliminating the interference of other objects such as a dropper, a cantilever, a positioner and the like; the contact line width calculation formula is:
Figure BDA0002201517800000051
g s is a gray threshold value->
Figure BDA0002201517800000054
Is a gray value g s W is the pixel width of the image sensor, L is the distance from the contact line to the center of the measuring instrument, and f' is the focal length of the imaging lens;
then calculating the center position of the contact line, and adopting a weighted number calculation method with a threshold value, wherein the calculation formula is as follows:
Figure BDA0002201517800000052
wherein x is n X coordinate of nth pixel g n The gray value of the nth pixel, N is the total number of pixels of the image sensor in the X direction;
the calculation formula of the angle value of the contact line deviating from the center of the image is as follows:
Figure BDA0002201517800000053
wherein f' is the focal length of the imaging lens;
after the deviation angle of the contact line is calculated, the servo driving system is controlled to rotate by a corresponding angle, so that the contact line image can be moved to the center of the image sensor, namely, the center of the contact line is automatically aimed.
In the present invention, the focal length f' of the imaging lens is 35mm, and the pixel width w of the image sensor is 0.0055mm. Actual detectionIf the width d' of the contact line is 15mm, the distance L from the contact line to the center of the measuring instrument is 6m, and the image width of the contact line is calculated reversely
Figure BDA0002201517800000061
Namely, when the distance x' between the center of the contact line and the center of the image sensor is calculated by 16 pixels according to the gray weight number, the position calculation with the accuracy of 0.2-0.3 pixel can be realized under the general illumination condition. The calculation error Δd '=0.3×w×l/f' =0.28 mm, which is far better than the human eye aiming accuracy.
In the invention, the worm wheel is connected with the rotating shaft of the aiming system. The motor needs to have the capability of driving the rotating shaft to rotate by 1 ", the common practice is to use a method of adding subdivision, however, with the existing optimal process, the rotating speed of the stepping motor is 2000rpm, the number of steps of a single circle is limited by 200 steps under the condition of small volume, the reduction ratio of seconds is required to be 1269000/200=6480 by using the stepping motor, and the motor of 2000rpm needs to rotate for 3.24 minutes, so that the speed cannot be connected, therefore, the method of using a direct current servo motor is adopted, firstly, the rotating speed of the direct current motor can be 10000rpm, and 4096 is adopted: 1 can stay at any position of single circle 1/4096, which is equivalent to 4096 steps/circle. Thus, the reduction ratio to be subdivided into 1 second is: 1296000/4096=316, in the design we use a motor of 1:4 to drive a worm gear of 1:184, the final reduction ratio is: 1:736, single step angular resolution is: and 0.43 seconds, and can meet the use requirements.
The angular resolution is as follows: in practice, other values may be obtained in a preferred manner for 0.43 seconds, and other values are also within the scope of the present application, as the values may be obtained without the need for inventive labor and with only a limited number of tests.
The zenith of the measuring instrument in the invention refers to the vertical upward direction of the measuring instrument.
The above-described embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention. The protection scope of the present invention is defined by the claims, and the protection scope includes equivalent alternatives to the technical features of the claims. I.e., equivalent replacement modifications within the scope of this invention are also within the scope of the invention.

Claims (4)

1. The utility model provides an automatic aiming's contact net laser detector, comprises track ruler, measuring apparatu, track ruler contains track gauge measuring transducer, and the measuring apparatu is connected on the track ruler, and the measuring apparatu is accomplished the automatic aiming of image and is measured with angle distance and is obtained the coordinate of contact net contact line through software solution; the method is characterized in that:
the measuring instrument consists of a measuring group, a display screen, a hand wheel, a main control board, a bracket, an angle measuring system, a servo motor driving system, a battery and a base connector, and is connected with the track ruler through the base connector; the measuring group, the angle measuring system and the servo motor driving system are coaxially arranged on the bracket, a first rotating shaft of the angle measuring system, a second rotating shaft of the servo motor driving system and the first shafts on two sides of the measuring group are connected together to form an integral shaft, and the measuring group can rotate around the integral shaft;
the measuring set consists of an image aiming system and a laser ranging system, and the image aiming system and the laser ranging system are installed in parallel; the image aiming system consists of an image sensor, an iris diaphragm, an imaging lens and a laser emission prism which are coaxially arranged in sequence from left to right; the center of the image sensor and the center of the imaging lens are connected to form an image light path; the aerial contact line is imaged on the image sensor through the imaging lens, and the iris diaphragm ensures that the image sensor can form clear images in both bright environment and low light environment;
the servo motor driving system consists of a servo motor, a high-speed gear, a low-speed gear, a worm and a worm wheel; wherein the high-speed gear and the low-speed gear form a primary speed reduction structure, the worm wheel and the worm form a secondary speed reduction structure, the servo motor drives the high-speed gear during working, the high-speed gear drives the low-speed gear, and then the worm is driven to rotate, and the worm drives the worm wheelThe worm wheel is connected with the measurement group through a second rotating shaft of the servo motor driving system to drive the measurement group to rotate, so that the purpose that the servo motor drives the measurement group to rotate is achieved; in the servo motor driving system, the low-speed gear and the worm gear are formed by two sheets, and springs are arranged between the two sheets for staggered teeth; the first-stage reduction ratio of the servo motor driving system is 1:4, the two-stage reduction ratio is 1:184, wherein the servo motor is subdivided into 1/4096; the minimum resolution of the servo motor driving system is that
Figure QLYQS_1
；
When the device works, the image sensor shoots an image and transmits the image to the main control board, and the main control board displays the image on the display screen for an operator to manually aim; meanwhile, the main control board calculates the angle of the center of the contact line deviating from the center of the image sensor according to the image, and the main control board controls the servo motor to rotate so that the image light path is aligned with the contact line, and then automatic aiming is completed;
the measurement group can aim at the contact line in any direction; the operator can also manually aim at the contact line through the hand wheel, the measuring group has an image aiming function and a laser ranging function, the distance L from the contact line to the center of the measuring instrument can be measured, the angle measuring system can measure the angle theta of the contact line deviating from the zenith direction of the measuring instrument, so that the polar coordinates (L, theta) of the contact line in the coordinate system of the measuring instrument are obtained, and the height H=L×cos theta of the contact line deviating from the center of the track ruler is the horizontal deviation value D=L×sin theta;
the contact line calculation method is as follows:
the image sensor shoots a gray image, and the gray value is from 0 to 255; after receiving the image, the main control board makes a one-dimensional gray value section on the image to form a curve; the curve peak represents the center of the contact line;
firstly, calculating the width of a contact line to judge whether the contact line detected currently is the contact line to be detected or not, and eliminating the interference of a dropper, a cantilever and a positioner; the contact line width calculation formula is:
Figure QLYQS_2
，/>
Figure QLYQS_3
is a gray threshold value->
Figure QLYQS_4
For gray value +.>
Figure QLYQS_5
W is the pixel width of the image sensor, L is the distance of the contact line from the centre of the measuring instrument, +.>
Figure QLYQS_6
Is the focal length of the imaging lens;
then calculating the center position of the contact line, wherein the calculation formula is as follows:
Figure QLYQS_7
wherein->
Figure QLYQS_8
For the X coordinate of the nth pixel, +.>
Figure QLYQS_9
The gray value of the nth pixel, N is the total number of pixels of the image sensor in the X direction;
the calculation formula of the angle value of the contact line deviating from the center of the image is as follows:
Figure QLYQS_10
wherein->
Figure QLYQS_11
Is the focal length of the imaging lens;
after the deviation angle of the contact line is calculated, the servo motor driving system is controlled to rotate by a corresponding angle, so that the contact line image can be moved to the center of the image sensor, namely, the center of the contact line is automatically aimed.
2. An automatic aiming catenary laser detector according to claim 1, wherein: the image sensor types are CCD and CMOS.
3. An automatic aiming catenary laser detector according to claim 1, wherein: the imaging lens is a convex lens.
4. An automatic aiming catenary laser detector according to claim 1, wherein: the iris diaphragm is a shading sheet with a hole in the center.
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