CN101216558B - Laser radar emission and receiving light path parallel regulating system and method - Google Patents
Laser radar emission and receiving light path parallel regulating system and method Download PDFInfo
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- CN101216558B CN101216558B CN2008100195343A CN200810019534A CN101216558B CN 101216558 B CN101216558 B CN 101216558B CN 2008100195343 A CN2008100195343 A CN 2008100195343A CN 200810019534 A CN200810019534 A CN 200810019534A CN 101216558 B CN101216558 B CN 101216558B
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Abstract
The invention discloses a parallel adjustment system of emission and receiving light paths of laser radar and a method. The system comprises a laser fixedly arranged on the tube of a receiving telescope and having the direction of the emission light parallel to the optical axis direction of the telescope, and a connection mirror, a total reflection mirror and an angle reflector consisting of a pair of right-angle prisms arranged in front of the tube of the receiving telescope, which are arranged in the optical path in front of the laser. The laser beam emitted from the angle reflector enters the tube of the receiving telescope and focuses on a combined focal plane of the primary mirror and the secondary mirror of receiving telescope. The focusi laser spot forms an image on a CCD after turning the direction through a 90-DEG turning mirror, and the clear laser spot image can be viewed on a monitor. The parallelism of the optical paths can be determined and adjusted according to the shapeof the laser spot. The invention has the advantages of simple structure and higher accuracy, and has been successfully applied in developed laser radar system.
Description
Technical field
The invention belongs to a kind of laser radar apparatus, specifically is a kind of laser radar emission and receiving light path parallel regulating system and method.
Background technology
Whether laser radar overlaps with the optical axis that receives according to emission, is divided into non-coaxial system and coaxial system.For any one laser radar system, all entering later on by laser radar blind area, zone of transition in the reception visual field of laser radar in order to guarantee emission laser beam, essential assurance emission laser beam is parallel with the optical axis of receiving telescope.But, point to reasons such as drift or replacing wavelength owing to temperature variation, platform vibrations, laser instrument, may cause the optical axis that transmits and receives light path to depart from, not strict parallel, cause the signal measurement error.Therefore, laser radar will guarantee that in design the machinery of laser emission element and receiving telescope and optical texture are very stable, and two optical axises do not change because of the motion in pitching and orientation, can be for a long time in keeping parallelism.Simultaneously, debug in the process, need carry out strict detection and adjustment emission laser beam and the light path parallel that receives optical unit at laser radar system; And, in the experiment measuring process, also needing regularly to detect and adjust by adjusting Laser emission and receiving light path parallel adjusting gear, the optical axis that guarantees to transmit and receive light path is parallel.
Present light path adjustment can be adjusted according to the echoed signal power of laser radar, and this method must the very abundant staff of experience be operated, and has very strong subjectivity, and poor accuracy; Can adopt the autoscan mode to adjust light path in addition, this method is comparatively complicated on optics and Design of Mechanical Structure, and involves great expense; Can also be by emission LASER Light Source autocollimation system, i.e. spirit-leveling instrument, it only is suitable for long-range, and precision is not too high.
Summary of the invention
The purpose of this invention is to provide a kind of laser radar emission and receiving light path parallel regulating system and method based on the CCD imaging mode, fairly simple on the structure, accuracy is than higher, Cheng Gong the laser radar system that is used to develop.
Technical scheme of the present invention is:
Laser radar emission and receiving light path parallel regulating system, include receiving telescope, it is characterized in that: the fixed installation emergent light direction laser instrument parallel on the receiving telescope lens barrel with the telescope optic axis direction, the butt joint mirror is installed in the light path in laser instrument the place ahead, catoptron, the corner reflector of forming by the pair of straight angle prism that install in receiving telescope lens barrel the place ahead, enter in the receiving telescope lens barrel from corner reflector emitting laser bundle, focus on the combination focal plane of receiving telescope primary mirror and secondary mirror, the place is equipped with aperture in described combination focal plane, 90 ° of removable deviation mirrors are installed behind aperture, after the laser facula that focuses on turns to through 90 ° of deviation mirrors, imaging on CCD.
Described laser radar emission and receiving light path parallel regulating system is characterized in that the described corner reflector of being made up of the pair of straight angle prism is installed on the tubular frame, is sleeved on the front end of telescope tube.
Emission of described laser radar and receiving light path parallel regulating system is characterized in that the mounting structure of described 90 ° of deviation mirrors is: after being fixed in slide block, be placed on the guide rail of grooved so that remove.
Laser radar emission and receiving light path parallel method of adjustment, it is characterized in that the fixed installation emergent light direction laser instrument parallel on the receiving telescope lens barrel with the telescope optic axis direction, the emergent light of laser instrument is through the butt joint mirror, catoptron, behind the corner reflector of forming by the pair of straight angle prism that install in receiving telescope lens barrel the place ahead, enter in the receiving telescope lens barrel, after focusing on the aperture at combination focal plane place of receiving telescope primary mirror and secondary mirror, the laser facula that focuses on is after 90 ° of deviation mirrors turn to, imaging on CCD, when hot spot bowlder relatively, promptly represent the parallel of emission laser beam and receiving telescope optical axis; Otherwise, then regulate the position of docking mirror, to change the direction of Laser emission, the laser facula of focusing is overlapped with the combination focal plane of receiving telescope primary mirror and secondary mirror, so just finished the parallel adjustment of emission laser beam with the receiving telescope optical axis.
Corner reflector is made up of two right-angle prisms, and parallel adjustment precision is 0.15mrad.Laser beam is injected this parallel adjusting gear through emission coefficient, and the emergent ray behind parallel adjusting gear is always parallel with incident ray.At this moment, be focus place on the focal plane if outgoing beam is injected the receiving telescope system positive center of aperture, it is parallel with the reception laser beam to launch laser beam so; If BEAM SQUINT aperture center as long as adjust the butt joint mirror of laser transmitting system, makes light beam inject the aperture center so, adjustment promptly finishes, and that is to say that emission coefficient and the adjustment of the receiving system depth of parallelism finish.
The depth of parallelism is adjusted precision and is depended on beam quality.Hot spot is relatively justified (single transverse mode), and adjusting parallelism precision can be at 0.2mrad, and receiving telescope visual field operated by rotary motion is about 4mrad, so can satisfy the requirement of reception entirely fully.
The present invention has three big characteristics:
1, solves the damage problem of accent Q high-power laser beam, and do not influence the emission light path the aluminium film.A catoptron is placed in porch at parallel adjusting gear, most of laser energy is reflexed to other directions, residue energy seldom enters parallel adjusting gear and telescopic system, not Stimulated Light damage of rete with guarantee to be in course of adjustment parallel adjusting gear and telescopic system, it " (0.01mrad), guaranteeing to see through its light beam and emission parallel beam again, and the depth of parallelism of catoptron is 2.
2, adopt the CCD imaging technique to replace the eyepiece imaging.Point-foussed hot spot by the CCD camera lens, can obtain representation of laser facula clearly by 90 ° of deviation mirrors on monitor behind aperture.This method by monitor acquisition image is more directly perceived, can accurately judge.
3, light path parallel adjustment light path and receiving light path are by 90 ° of deviation mirror switch operatings.Design has the guide rail structure of a grooved between aperture and eyepiece, and 90 ° of deviation mirrors are installed above.When light path parallel is adjusted, 90 ° of deviation mirrors are packed into, when laser radar was measured, 90 ° of deviation mirrors removed.Such design is surveyed light path parallel adjustment and laser radar and is independent of each other.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the hot spot imaging synoptic diagram of seeing on the CCD before and after the transmitting-receiving parallel light adjustment, wherein a be natural light by telescope imaging on CCD, b is laser facula imaging on CCD before the light path adjustment is finished, c is laser facula imaging on CCD after the light path adjustment is finished.
Embodiment
Laser radar emission and receiving light path parallel regulating system, include receiving telescope, the fixed installation emergent light direction laser instrument parallel on the receiving telescope lens barrel with the telescope optic axis direction, the butt joint mirror is installed in the light path in laser instrument the place ahead, catoptron, the corner reflector of forming by the pair of straight angle prism that install in receiving telescope lens barrel the place ahead, enter in the receiving telescope lens barrel from corner reflector emitting laser bundle, focus on the combination focal plane of receiving telescope primary mirror and secondary mirror, the place is equipped with aperture in described combination focal plane, 90 ° of removable deviation mirrors are installed behind the aperture, after the laser facula that focuses on turns to through 90 ° of deviation mirrors, imaging on CCD.
When carrying out the adjustment of Laser emission and receiving light path parallel, at first make laser radar be horizontal positioned, adjust the time delay of laser instrument, reduce pulsed laser energy,, the laser beam direction adjustment device is damaged in order to avoid pulsed laser energy is too high.
Laser instrument output laser beam is through after docking mirror and catoptron, export by corner reflector, focus on the combination focal plane of receiving telescope primary mirror and secondary mirror, the laser facula of focusing by 90 ° of deviation mirrors by the CCD imaging and on monitor, demonstrate laser facula.Regulating the light of butt joint mirror transfers the micrometer head knob of frame to change the direction of Laser emission, the laser facula of focusing is overlapped with the combined focal of receiving telescope primary mirror and secondary mirror, so just finished the parallel adjustment of emission laser beam with the receiving telescope optical axis.After adjust finishing, withdraw corner reflector, 90 ° of deviation mirrors and CCD imaging and monitoring arrangement, Q-Switch time delay of recovering laser instrument is to optimum Working, and laser radar such as just can enter at state to be measured.
Claims (4)
1. laser radar is launched and receiving light path parallel regulating system, include receiving telescope, it is characterized in that: the fixed installation emergent light direction laser instrument parallel on the receiving telescope lens barrel with the telescope optic axis direction, the butt joint mirror is installed in the light path in laser instrument the place ahead, catoptron, the corner reflector of forming by the pair of straight angle prism that install in receiving telescope lens barrel the place ahead, enter in the receiving telescope lens barrel from corner reflector emitting laser bundle, focus on the combination focal plane of receiving telescope primary mirror and secondary mirror, the place is equipped with aperture in described combination focal plane, 90 ° of removable deviation mirrors are installed behind aperture, after the laser facula that focuses on turns to through 90 ° of deviation mirrors, imaging on CCD.
2. laser radar emission according to claim 1 and receiving light path parallel regulating system is characterized in that the described corner reflector of being made up of the pair of straight angle prism is installed on the tubular frame, is sleeved on the front end of receiving telescope lens barrel.
3. laser radar according to claim 1 emission and receiving light path parallel regulating system is characterized in that the mounting structure of described 90 ° of deviation mirrors is: after being fixed in slide block, be placed on the guide rail of grooved so that remove.
4. laser radar emission and receiving light path parallel method of adjustment, it is characterized in that the fixed installation emergent light direction laser instrument parallel on the receiving telescope lens barrel with the receiving telescope optical axis direction, the emergent light of laser instrument is through the butt joint mirror, catoptron, behind the corner reflector of forming by the pair of straight angle prism that install in receiving telescope lens barrel the place ahead, enter in the receiving telescope lens barrel, after focusing on the aperture at combination focal plane place of receiving telescope primary mirror and secondary mirror, the laser facula that focuses on is after 90 ° of deviation mirrors turn to, imaging on CCD, when hot spot bowlder relatively, promptly represent the parallel of emission laser beam and receiving telescope optical axis; Otherwise, then regulate the position of docking mirror, to change the direction of Laser emission, the laser facula of focusing is overlapped with the combination focal plane of receiving telescope primary mirror and secondary mirror, so just finished the parallel adjustment of emission laser beam with the receiving telescope optical axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100195343A CN101216558B (en) | 2008-01-21 | 2008-01-21 | Laser radar emission and receiving light path parallel regulating system and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2008100195343A CN101216558B (en) | 2008-01-21 | 2008-01-21 | Laser radar emission and receiving light path parallel regulating system and method |
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| Publication Number | Publication Date |
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| CN101216558A CN101216558A (en) | 2008-07-09 |
| CN101216558B true CN101216558B (en) | 2011-08-24 |
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| CN2008100195343A Expired - Fee Related CN101216558B (en) | 2008-01-21 | 2008-01-21 | Laser radar emission and receiving light path parallel regulating system and method |
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Families Citing this family (16)
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| CN101702022B (en) * | 2009-10-27 | 2012-05-09 | 北京控制工程研究所 | Laser dot matrix instrument |
| CN102200577B (en) * | 2011-03-23 | 2013-05-08 | 南京信息工程大学 | Method and device for debugging transmission azimuth of laser beam in laser radar detection |
| CN102353950B (en) * | 2011-10-18 | 2013-08-28 | 中国工程物理研究院应用电子学研究所 | Laser radar optical system with optical axis calibrating function and optical axis calibrating method |
| CN103308002B (en) * | 2013-06-05 | 2016-03-09 | 中国科学院半导体研究所 | A kind of plain type adjustable X-type light path parallel debugging pick-up unit |
| CN103675795A (en) * | 2013-12-20 | 2014-03-26 | 中国科学技术大学 | Device and method for automatically matching laser radar receiving and transmitting optical axes |
| CN105353381B (en) * | 2015-12-05 | 2018-02-13 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of laser range finder |
| CN105301578B (en) * | 2015-12-05 | 2018-02-13 | 中国航空工业集团公司洛阳电光设备研究所 | Laser pick-off adjustment method and debugging apparatus |
| CN106093913B (en) * | 2016-06-16 | 2017-08-08 | 武汉大学 | A kind of adjusting method of the common visual field of laser radar binary channels |
| CN107421647B (en) * | 2017-07-13 | 2019-08-06 | 中国石油天然气股份有限公司 | Total optical path sending and receiving apparatus for thermopile detector |
| CN107677294B (en) * | 2017-11-09 | 2019-10-22 | 北京控制工程研究所 | A kind of online debugging device of X-ray pulsar navigation sensor and method |
| CN108761421A (en) * | 2018-03-20 | 2018-11-06 | 深圳市速腾聚创科技有限公司 | A kind of solid-state laser radar |
| CN109358321B (en) * | 2018-09-27 | 2023-05-16 | 中国船舶工业系统工程研究院 | Adjustment method for laser transceiving coaxiality |
| CN110749874B (en) * | 2019-10-30 | 2021-12-10 | 森思泰克河北科技有限公司 | Leveling device and method for laser radar transmitting light path |
| CN111473747B (en) * | 2020-04-15 | 2022-07-26 | Oppo广东移动通信有限公司 | Calibration device, calibration system, electronic device and calibration method |
| CN111693966B (en) * | 2020-06-11 | 2023-04-07 | 中国科学院精密测量科学与技术创新研究院 | Astronomical positioning field matching device and method for laser radar |
| CN115754978B (en) * | 2022-12-28 | 2023-06-06 | 安徽科创中光科技股份有限公司 | Optical axis parallel adjustment method based on laser emission system and telescope receiving system |
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| CN1567027A (en) * | 2003-06-12 | 2005-01-19 | 亚洲光学股份有限公司 | Reception light beam module |
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