CN104391291A - Fine particle laser radar system with adjustable focal position and self-calibration method - Google Patents
Fine particle laser radar system with adjustable focal position and self-calibration method Download PDFInfo
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- CN104391291A CN104391291A CN201410773030.6A CN201410773030A CN104391291A CN 104391291 A CN104391291 A CN 104391291A CN 201410773030 A CN201410773030 A CN 201410773030A CN 104391291 A CN104391291 A CN 104391291A
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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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Abstract
The invention provides a fine particle laser radar system with an adjustable focal position and a self-calibration method. The fine particle laser radar system comprises a laser, an imaging CCD (charge coupled device), a control computer, a beam expander (8), a first right-angle reflecting prism (9), a corner reflector (10), a plane mirror (11), a collimating mirror (12) and a second right-angle reflecting prism (13), wherein laser emitted by the laser passes the a beam expander (8), the first right-angle reflecting prism (9), the plane mirror (11), the corner reflector (10), a receiving optical system, the collimating mirror (12) and the second right-angle reflecting prism (13) in sequence and then reaches the imaging CCD; the imaging CCD is connected with the control computer; the control computer controls the laser. The fine particle laser radar system realizes the adjustment of a focal plane and a focal position by adjusting a main primary mirror position, and also realizes a whole set of adjustment process, from rough adjustment to fine adjustment, of the fine particle laser radar system. The self-calibration method replaces manual calibration, overcomes the problem that no target image serves as a reference point, improves the precision, and meanwhile eliminates personal errors caused by manual operation.
Description
Technical field
The present invention relates to the adjustable and high-precision calibrating method in focal position in fine particle laser radar system, belong to laser radar field.
Background technology
Fine particle laser radar can in real time to online stereoscopic monitorings of parameter such as atmospheric aerosol backscattering coefficient, atmospheric extinction coefficient, Atmospheric particulates mass concentration, atmospheric boundary layer heights, along with increasing the weight of of atmospheric pollution Detection task, laser radar plays more and more important effect carrying out in atmospheric science, atmospheric climate and atmospheric environment scientific research.
In order to reduce the impact of blind area on radargrammetry distance, having more greatly now and all adopting coaxial-type transmitter-receiver device and concentric transmitter-receiver device.And telescopic system is its important ingredient in receiving trap, the index of receiving optics is also mainly formulated with the index of telescopic system.Receiving optics many employings Cassegrain telescope system of current laser radar system, wherein the position of telescopical focal plane requires front and the rear that can be placed in telescope primary mirror according to different radars.This patent proposes a kind of method, namely primary mirror position is adjustable and then reach focal position and can mediate according to demand, while realizing instrument versatility, also adjust to aperture center by separating whole primary mirror direction as requested to realize the parallel i.e. focal position of primary and secondary mirror.In addition for the highly sophisticated device fine particle laser radar of monitoring atmospheric parameter at present, the precision of measurement and measuring height are very important.Visual field size in receiving optics directly affects the measuring distance of instrument, if dispersing in laser radar system in optical transmitting system is little too little, affects the representativeness of the saturated of near-field signals and measurement numerical value.The measuring height of the too large then direct instrument of the angle of divergence, the transmitting optics angle of divergence of laser radar is greater than receiving optics own, then the signal outside visual field can not be received optical system completely and accepted, thus causes the restriction of measurement parameter.The focal plane position that this patent proposes is adjustable, directly can change the field angle of receiving optics, avoids the loss of echoed signal to strengthen the representativeness measuring numerical value.
For high-accuracy surveying instrument, the precision height self demarcated directly affects authenticity and the precision of measurement parameter.Current artificial scaling method and the ccd image of adopting is demarcated more, the personal error that two-dimensional calibrations itself exists and the uncompensable errors factor shortcomings such as often, therefore degree of regulation is low, automaticity difference.And currently used CCD scaling method, although instead of artificial demarcation, less personal error, the stated accuracy brought owing to lacking calibration point is not very high.This patent adopts to be changed aperture and demarcates with imaging CCD, so not only save cost method also simple and clear, simultaneously target can imaging and as the calibration point of demarcation in CCD, we only need to demarcate target image, not only increase the precision of self demarcating like this and also reduce the error of artificially debugging and bringing.
Summary of the invention
The present invention is to provide a kind of high precision fine particle laser radar scaling method, the method replace artificial demarcate and driftlessness image as a reference point, precision more eliminates the personal error that manual operation brings while improving.This adjustment of inventing primary mirror position in the receiving optics that also proposes to realize the adjustable a kind of version in focal plane and focal position, and realizes the debug process of a whole set of fine particle laser radar system from coarse adjustment to accurate adjustment with above-mentioned scaling method.
The technical solution used in the present invention is: a kind of focal position is adjustable fine particle laser radar system, comprises laser instrument, imaging CCD, computer for controlling, beam expanding lens, the first right-angle reflecting prism, corner reflector, plane mirror, collimating mirror and the second right-angle reflecting prism; Wherein receiving optics comprises receiving system secondary mirror, receiving system main body, primary mirror, adjustment jackscrew, adjustable aperture, tension extension spring and primary mirror holder; Primary mirror is fixed on primary mirror holder, and the adjustment of primary mirror regulates the front and back position of primary mirror and the adjustment of certain angle by regulating the front and back spinning in and out of jackscrew, realizes focal plane position and focal position is simultaneously adjustable; The tension extension spring at 6 places is fixed on and receives above optical bodies and primary mirror holder, ensures to regulate jackscrew can adjustment state normally; Adjustable aperture and receiving system main body adopt fine thread to be connected, and require to rotate by front and back the position that adjustable aperture nut finds focal plane, thus match suitable fine particle laser radar visual field according to receiving optics; The laser that laser instrument sends arrives imaging CCD successively after beam expanding lens, the first right-angle reflecting prism, plane mirror, corner reflector, receiving optics, collimating mirror, the second right-angle reflecting prism, imaging CCD connection control computing machine, computer for controlling controls laser instrument.
The present invention provides the self-calibrating method of the adjustable fine particle laser radar system in a kind of focal position in addition, utilize the adjustable fine particle laser radar system in above-mentioned focal position, open laser instrument, the laser that laser instrument sends reflexes to the top of receiving optics again after beam expanding lens expands through the first right-angle reflecting prism, and above receiving optics holding plane catoptron, again through corner reflector after plane mirror reflection, regulate the dimensional turntable below corner reflector, the hot spot of reflection is entered in receiving optics.Receiving optics emergent light reflexes in imaging CCD through the second right-angle reflecting prism after collimating mirror, and imaging CCD is connected with main control computer, and main control computer can control laser instrument; Concrete, the second right-angle reflecting prism of adjustable two dimension precise rotating platform is installed in imaging CCD front, now regulates the conciliation knob below the second right-angle reflecting prism, makes the target image that can find in the imaging CCD of reception; Write down the target scale value a demarcating size, this is engraved in imaging in imaging CCD should be fuzzy, this adjusts the target position of demarcating before and after just needing, observe the sharpness of target image in CCD simultaneously, find the most clearly imaging point and write down the target scale value b of demarcation size now, then the difference before and after is exactly the numerical value offset before and after aperture focal plane;
Regulate the second right-angle reflecting prism to make the image center of target at CCD and the very center superposition of CCD itself, read the X-axis of dimensional turntable and the numerical value of Y direction, two numerical value now write down are the distance of distance center position, focal position.
The present invention compared with prior art advantage is:
(1), compared to present fine particle laser radar system, mostly visual field is that size that is fixing or that change aperture changes the size of visual field, the position that the present invention debugs primary mirror not only can regulate the size of visual field more can automatically adjust further according to demand automatically, improves precision and the reliability of instrument test data.
(2), by reference picture that the graduated target of belt replacement provides focal position adjustable, the cross-graduation center of target itself more can read the numerical value above turntable accurately, thus reach focal position and focal plane position accurately adjustable while more achieve the object can surveyed focal position.
Accompanying drawing explanation
Fig. 1 is the adjustable mode in focal position in receiving optics in Cassegrain telescope of the present invention, and wherein, 1 is receiving system secondary mirror, and 2 is receiving system main body, and 3 is primary mirror, and 4 for regulating jackscrew, and 5 be adjustable aperture, and 6 for straining extension spring, and 7 is primary mirror holder;
Fig. 2 is target pattern diagram;
Fig. 3 is axis reflector formula radar transmit-receive system light path figure, and wherein, 2 is receiving system main body, and 5 is adjustable aperture, 8 is beam expanding lens, and 9 is the first right-angle reflecting prism, and 10 is corner reflector, 11 is plane mirror, and 12 is collimating mirror, and 13 is the second right-angle reflecting prism.
Embodiment
The present invention is further illustrated below in conjunction with accompanying drawing and specific embodiment.
As shown in Figure 1, receiving optics comprises receiving system secondary mirror 1, receiving system main body 2, primary mirror 3, regulates jackscrew 4, adjustable aperture 5, tension extension spring 6, primary mirror holder 7 formed for focal position is adjustable fine particle laser radar receiving optics structural principle schematic diagram.The primary mirror 3 of receiving optics is fixed on the primary mirror holder 7 of receiving optics, the front and back position of primary mirror 3 and the adjustment of certain angle of adjustment by regulating the front and back spinning in and out of jackscrew 4 to regulate receiving optics of primary mirror 3, realize focal plane position and focal position is simultaneously adjustable.The tension extension spring 6 at 6 places is fixed on above receiving system main body 2 and primary mirror holder 7, ensures to regulate jackscrew 4 can adjustment state normally.Adjustable aperture 5 adopts fine thread to be connected with receiving system main body 2, requires to rotate by front and back the position that adjustable aperture 5 nut finds focal plane, thus match suitable fine particle laser radar visual field according to receiving optics.
Based on high-precision laser radar automatic calibration system structural principle schematic diagram as shown in Figure 3, fine particle laser radar system mainly comprises the composition such as CCD in computing machine, optical transmitting system, debugging right-angle reflecting prism assembly, receiving optics and Received signal strength source.Concrete, should comprise based on high-precision laser radar automatic calibration system: laser instrument, imaging CCD, computer for controlling, receiving optics, beam expanding lens 8, the first right-angle reflecting prism 9, corner reflector 10, plane mirror 11, collimating mirror 12, the second right-angle reflecting prism 13, adjustable aperture 5 in receiving optics is replaced with the target with demarcating size, and target pattern as shown in Figure 2.
Self-calibration step:
Open laser instrument, the laser that laser instrument sends reflexes to the top of receiving optics again after beam expanding lens 8 expands through the first right-angle reflecting prism 9, and above receiving optics holding plane catoptron 11, plane mirror 11 reflects through corner reflector 10 after reflecting again, regulate the dimensional turntable below corner reflector 10, the hot spot of reflection is entered in receiving optics.Receiving optics emergent light reflexes in imaging CCD through the second right-angle reflecting prism 13 after collimating mirror 12, and imaging CCD is connected with main control computer, and main control computer can control laser instrument.Concrete, the second right-angle reflecting prism 13 of adjustable two dimension precise rotating platform is installed in imaging CCD front, now regulates the conciliation knob below the second right-angle reflecting prism 13, makes the target image that can find in the imaging CCD of reception.Write down the target scale value a demarcating size, this is engraved in imaging in imaging CCD should be fuzzy, this adjusts the target position of demarcating before and after just needing, observe the sharpness of target image in CCD simultaneously, find the most clearly imaging point and write down the target scale value b of demarcation size now, then the difference before and after is exactly the numerical value offset before and after aperture focal plane.
Regulate the second right-angle reflecting prism 13 to make the image center of target at CCD and the very center superposition of CCD itself, read the X-axis of dimensional turntable and the numerical value of Y direction, two numerical value now write down are the distance of distance center position, focal position.
Non-elaborated part of the present invention belongs to the known technology of those skilled in the art.
Claims (2)
1. the adjustable fine particle laser radar system in focal position, it is characterized in that: comprise laser instrument, imaging CCD, computer for controlling, beam expanding lens (8), the first right-angle reflecting prism (9), corner reflector (10), plane mirror (11), collimating mirror (12) and the second right-angle reflecting prism (13); Wherein receiving optics comprises receiving system secondary mirror (1), receiving system main body (2), primary mirror (3), regulates jackscrew (4), adjustable aperture (5), tension extension spring (6) and primary mirror holder (7); Primary mirror (3) is fixed on primary mirror holder (7), the adjustment of primary mirror (3) regulates the front and back position of primary mirror (3) and the adjustment of certain angle by regulating the front and back spinning in and out of jackscrew (4), realizes focal plane position and focal position is simultaneously adjustable; The tension extension spring (6) at 6 places is fixed on above receiving system main body (2) and primary mirror holder (7), ensures to regulate jackscrew (4) can adjustment state normally; Adjustable aperture (5) adopts fine thread to be connected with receiving system main body (2), require to rotate by front and back the position that adjustable aperture (5) nut finds focal plane according to receiving optics, thus match suitable fine particle laser radar visual field; The laser that laser instrument sends arrives imaging CCD successively after beam expanding lens (8), the first right-angle reflecting prism (9), plane mirror (11), corner reflector (10), receiving optics, collimating mirror (12), the second right-angle reflecting prism (13), imaging CCD connection control computing machine, computer for controlling controls laser instrument.
2. the self-calibrating method of the adjustable fine particle laser radar system in focal position, utilize the adjustable fine particle laser radar system in the focal position described in claim 1, it is characterized in that: open laser instrument, the laser that laser instrument sends reflexes to the top of receiving optics again after beam expanding lens (8) expands through the first right-angle reflecting prism (9), and above receiving optics holding plane catoptron (11), reflect through 45° angle reverberator (10) again after plane mirror (11) reflection, regulate the dimensional turntable of corner reflector (10) below, the hot spot of reflection is enable to enter in receiving optics, receiving optics emergent light reflexes in imaging CCD through collimating mirror (12) by the second right-angle reflecting prism (13), imaging CCD is connected with main control computer, main control computer can control laser instrument, concrete, second right-angle reflecting prism (13) of adjustable two dimension precise rotating platform is installed in imaging CCD front, now regulate the conciliation knob of the second right-angle reflecting prism (13) below, make the target image that can find in the imaging CCD of reception, write down the target scale value a demarcating size, this is engraved in imaging in imaging CCD should be fuzzy, at this moment the target position that before and after just needing, adjustment is demarcated, observe the sharpness of target image in CCD simultaneously, find the most clearly imaging point and write down the target scale value b of demarcation size now, then the difference before and after is exactly the numerical value offset before and after aperture focal plane,
The second right-angle reflecting prism (13) is regulated to make the image center of target at CCD and the very center superposition of CCD itself, read the X-axis of dimensional turntable and the numerical value of Y direction, two numerical value now write down are the distance of distance center position, focal position.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635760A (en) * | 2015-01-08 | 2015-05-20 | 中国科学院合肥物质科学研究院 | High-precision automatic regulating system for digital atmosphere fine-particle laser radar |
| CN105158750A (en) * | 2015-08-21 | 2015-12-16 | 中国科学院合肥物质科学研究院 | On-axis light calibration apparatus and calibration method for receiving telescope and grating spectrometer of laser radar |
| CN106093913A (en) * | 2016-06-16 | 2016-11-09 | 武汉大学 | A kind of control method of laser radar dual pathways visual field altogether |
| CN106216831A (en) * | 2016-08-22 | 2016-12-14 | 大族激光科技产业集团股份有限公司 | Laser-processing system and laser focusing method |
| CN107796742A (en) * | 2017-09-20 | 2018-03-13 | 中国计量科学研究院 | A kind of device for calibrating air group concentration detecting laser radar |
| WO2018068363A1 (en) * | 2016-10-12 | 2018-04-19 | 北京万集科技股份有限公司 | Laser radar optical system |
| CN108254736A (en) * | 2017-12-31 | 2018-07-06 | 天津木牛流马科技发展股份有限公司 | Submillimeter-level laser radar |
| CN108901118A (en) * | 2018-07-04 | 2018-11-27 | 北京大学 | Transparent target body positioning system and its localization method in a kind of lasing ion accelerator |
| CN109781141A (en) * | 2018-12-29 | 2019-05-21 | 深圳航星光网空间技术有限公司 | The scaling method and device of cube edge microscope group |
| CN109926711A (en) * | 2019-04-25 | 2019-06-25 | 大族激光科技产业集团股份有限公司 | A kind of method of automatic acquisition laser spot and the automatic processing unit (plant) for obtaining laser spot |
| CN114035200A (en) * | 2021-02-20 | 2022-02-11 | 宋小波 | Active laser radar blind area detection system and method for automatic driving direction |
| CN118311606A (en) * | 2024-06-07 | 2024-07-09 | 珩辉光电测量技术(吉林)有限公司 | Mie scattering laser radar and optical axis calibration method thereof |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104635760A (en) * | 2015-01-08 | 2015-05-20 | 中国科学院合肥物质科学研究院 | High-precision automatic regulating system for digital atmosphere fine-particle laser radar |
| CN105158750A (en) * | 2015-08-21 | 2015-12-16 | 中国科学院合肥物质科学研究院 | On-axis light calibration apparatus and calibration method for receiving telescope and grating spectrometer of laser radar |
| CN106093913A (en) * | 2016-06-16 | 2016-11-09 | 武汉大学 | A kind of control method of laser radar dual pathways visual field altogether |
| 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 |
| CN106216831B (en) * | 2016-08-22 | 2018-04-27 | 大族激光科技产业集团股份有限公司 | Laser-processing system and laser focusing method |
| CN106216831A (en) * | 2016-08-22 | 2016-12-14 | 大族激光科技产业集团股份有限公司 | Laser-processing system and laser focusing method |
| WO2018068363A1 (en) * | 2016-10-12 | 2018-04-19 | 北京万集科技股份有限公司 | Laser radar optical system |
| CN107796742B (en) * | 2017-09-20 | 2020-05-15 | 中国计量科学研究院 | Device for calibrating atmospheric component concentration detection laser radar |
| CN107796742A (en) * | 2017-09-20 | 2018-03-13 | 中国计量科学研究院 | A kind of device for calibrating air group concentration detecting laser radar |
| CN108254736A (en) * | 2017-12-31 | 2018-07-06 | 天津木牛流马科技发展股份有限公司 | Submillimeter-level laser radar |
| CN108901118A (en) * | 2018-07-04 | 2018-11-27 | 北京大学 | Transparent target body positioning system and its localization method in a kind of lasing ion accelerator |
| CN109781141A (en) * | 2018-12-29 | 2019-05-21 | 深圳航星光网空间技术有限公司 | The scaling method and device of cube edge microscope group |
| CN109781141B (en) * | 2018-12-29 | 2020-10-27 | 深圳航星光网空间技术有限公司 | Calibration method and device of cubic prism group |
| CN109926711A (en) * | 2019-04-25 | 2019-06-25 | 大族激光科技产业集团股份有限公司 | A kind of method of automatic acquisition laser spot and the automatic processing unit (plant) for obtaining laser spot |
| CN114035200A (en) * | 2021-02-20 | 2022-02-11 | 宋小波 | Active laser radar blind area detection system and method for automatic driving direction |
| CN118311606A (en) * | 2024-06-07 | 2024-07-09 | 珩辉光电测量技术(吉林)有限公司 | Mie scattering laser radar and optical axis calibration method thereof |
| CN118311606B (en) * | 2024-06-07 | 2024-08-06 | 珩辉光电测量技术(吉林)有限公司 | Mie scattering laser radar and optical axis calibration method thereof |
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