CN104914448A - Range resolution active atmospheric turbulence laser radar system based on differential image motion method - Google Patents
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Abstract
本发明公开了一种基于差分像运动法的距离分辨主动大气湍流激光雷达系统，包括：激光聚焦发射系统与光学接收系统；其中：所述激光聚焦发射系统包括：激光器、发射反射镜组、扩束发射系统与扫描平面反射镜；所述激光器发射的激光依次经过发射反射镜组与扩束发射系统射入扫描平面反射镜，由扫描平面镜向空中发射信号；所述光学接收系统包括：离轴接收系统、校准系统与ICCD照相机；扫描平面镜向空中发射信号的反射信号反射回扫描平面镜后，被所述离轴接收系统接收，经由校准系统处理后被照相机接收。本发明公开的系统，简化了光路，并具有较高的光学效率。
The invention discloses a distance-resolving active atmospheric turbulence lidar system based on differential image motion method, which includes: a laser focusing emission system and an optical receiving system; wherein: the laser focusing emission system includes: a laser, an emission mirror group, Beam emission system and scanning plane reflector; the laser emitted by the laser is sequentially injected into the scanning plane reflector through the transmitting reflector group and the beam expander transmitting system, and the scanning plane mirror transmits signals to the air; the optical receiving system includes: off-axis The receiving system, the calibration system and the ICCD camera; the reflection signal emitted by the scanning plane mirror into the air is reflected back to the scanning plane mirror, received by the off-axis receiving system, processed by the calibration system and received by the camera. The system disclosed by the invention simplifies the light path and has high optical efficiency.
Description
技术领域technical field
本发明涉及激光遥感、大气探测、光电探测领域，尤其涉及一种基于差分像运动法的距离分辨主动大气湍流激光雷达系统。The invention relates to the fields of laser remote sensing, atmospheric detection and photoelectric detection, in particular to a range resolution active atmospheric turbulence laser radar system based on a differential image motion method.
背景技术Background technique
传统的大气湍流监测设备通常为差分像运动检测仪(DIMM)，DIMM系统通过对自然星成像的被动探测，测量整个大气路径上的湍流的积分效应，不具有距离分辨特性。而采用差分像运动法(DIM)的大气湍流激光雷达技术中，使用激光导星(LGS)代替了之前测量方法中使用的自然光源。通过主动改变激光的聚焦位置与增强型CCD(ICCD)的快门时间，可以测量得到不同高度位置的大气湍流效应。Traditional atmospheric turbulence monitoring equipment is usually a differential image motion detector (DIMM). The DIMM system measures the integral effect of turbulence on the entire atmospheric path through passive detection of natural star imaging, and does not have distance resolution characteristics. In the Atmospheric Turbulence LiDAR technique using the differential image motion method (DIM), laser guide stars (LGS) are used instead of the natural light source used in previous measurement methods. By actively changing the focus position of the laser and the shutter time of the enhanced CCD (ICCD), the atmospheric turbulence effect at different heights can be measured.
目前只有乔治亚理工学院(GTRI)研究小组按照理论分析、模拟验证、系统研制的步骤对DIM激光雷达技术进行了系统的研究。At present, only the Georgia Institute of Technology (GTRI) research team has conducted systematic research on DIM lidar technology in accordance with the steps of theoretical analysis, simulation verification, and system development.
GTRI研制的DIM激光雷达的光学系统主要分为发射系统与接收系统两部分。发射系统由脉冲激光器、4个转向平面镜、扩束器、扫描平面反射镜构成。系统工作时，355nm激光光束从脉冲激光器射出后经过两个转向反射镜将光束导入扩束器，然后将扩束后的激光由两个转向反射镜反射到一个大平面反射镜上，由该大平面反射镜将激光反射入大气中，使激光光束在设定好的高度位置聚焦；接收系统由接收主镜、接收次镜、四个接收子瞳、玻璃楔块、扫描平面反射镜构成。大气中的后向散射信号被大平面反射镜反射进入接收主镜，主镜将光信号汇聚到接收次镜，玻璃楔块将次镜反射的光分成四束进入不同的接收子瞳。该系统中接收与发射共用一块扫描平面发射镜，但该平面发射镜的俯仰角不能够自动调节，在测量之前需要根据测量的方位对其进行手动的调节。The optical system of the DIM lidar developed by GTRI is mainly divided into two parts: the transmitting system and the receiving system. The launch system consists of a pulsed laser, four steering plane mirrors, a beam expander, and a scanning plane mirror. When the system is working, the 355nm laser beam is emitted from the pulse laser and then passes through two steering mirrors to guide the beam into the beam expander, and then the expanded laser is reflected by the two steering mirrors to a large plane mirror, which The plane mirror reflects the laser light into the atmosphere to focus the laser beam at the set height; the receiving system consists of a receiving primary mirror, a receiving secondary mirror, four receiving pupils, a glass wedge, and a scanning plane mirror. The backscattered signal in the atmosphere is reflected by the large flat mirror and enters the receiving primary mirror. The primary mirror converges the optical signal to the receiving secondary mirror. The glass wedge divides the light reflected by the secondary mirror into four beams and enters different receiving pupils. In this system, receiving and transmitting share a scanning plane mirror, but the pitch angle of the plane mirror cannot be adjusted automatically, and it needs to be manually adjusted according to the measured azimuth before measurement.
但是，上述系统由于扩束器并不可自动调节扩束角度，激光汇聚到测量位置的高度必须在测量前设定，所以不可进行整个测量路径上不同高度位置的快速扫描测量；并且在发射系统中采用了四级反射，对光路的调节精度要求很高，提高了调节难度；另外，由于反射镜的存在能量的损失，影响了光学效率。However, because the beam expander of the above system cannot automatically adjust the beam expansion angle, the height at which the laser converges to the measurement position must be set before the measurement, so it is not possible to perform fast scanning measurements at different heights on the entire measurement path; and in the emission system Four-level reflection is adopted, which requires high adjustment accuracy of the optical path, which increases the difficulty of adjustment; in addition, due to the energy loss of the reflector, the optical efficiency is affected.
发明内容Contents of the invention
本发明的目的是提供一种基于差分像运动法的距离分辨主动大气湍流激光雷达系统，简化了光路，并具有较高的光学效率。The purpose of the present invention is to provide a distance resolution active atmospheric turbulence laser radar system based on the differential image motion method, which simplifies the optical path and has high optical efficiency.
本发明的目的是通过以下技术方案实现的：The purpose of the present invention is achieved through the following technical solutions:
一种基于差分像运动法的距离分辨主动大气湍流激光雷达系统，其特征在于，包括：激光聚焦发射系统与光学接收系统；其中：A distance-resolving active atmospheric turbulence lidar system based on a differential image motion method, characterized in that it includes: a laser focusing transmitting system and an optical receiving system; wherein:
所述激光聚焦发射系统包括：激光器、发射反射镜组、扩束发射系统与扫描平面反射镜；所述激光器发射的激光依次经过发射反射镜组与扩束发射系统射入扫描平面反射镜，由扫描平面镜向空中发射信号；The laser focusing emission system includes: a laser, a transmitting mirror group, a beam expanding emission system and a scanning plane reflecting mirror; the laser light emitted by the laser is sequentially injected into the scanning plane reflecting mirror through the transmitting reflecting mirror group and the beam expanding transmitting system, and is formed by The scanning plane mirror emits signals into the air;
所述光学接收系统包括：离轴接收系统、校准系统与ICCD照相机；扫描平面镜向空中发射信号的反射信号反射回扫描平面镜后，被所述离轴接收系统接收，经由校准系统处理后被照相机接收。The optical receiving system includes: an off-axis receiving system, a calibration system and an ICCD camera; the reflected signal emitted by the scanning plane mirror into the air is reflected back to the scanning plane mirror, received by the off-axis receiving system, and received by the camera after being processed by the calibration system .
所述发射反射镜组包括：第一与第二平面反射镜；所述扩束发射系统包括：发射次镜与发射主镜；The emitting mirror group includes: first and second plane mirrors; the beam expander emitting system includes: an emitting secondary mirror and an emitting primary mirror;
所述激光器发射的激光依次经过第一与第二平面反射镜后射入发射次镜，由发射次镜将激光反射至发射主镜光形成一定发散角的平行光束。The laser light emitted by the laser device sequentially passes through the first and second plane reflectors and then enters the secondary emitting mirror. The secondary emitting mirror reflects the laser light to the primary emitting mirror to form a parallel beam with a certain divergence angle.
所述激光聚焦发射系统还包括：第一电动平台；The laser focusing emission system also includes: a first motorized platform;
所述扩束发射系统中的发射次镜固定在所述第一电动平台上，通过所述第一电动平台上来控制扩束发射系统中发射次镜与发射主镜之间的距离。The transmitting secondary mirror in the beam expanding transmitting system is fixed on the first motorized platform, and the distance between the transmitting secondary mirror and the transmitting primary mirror in the beam expanding transmitting system is controlled through the first motorized platform.
所述离轴接收系统包括：第一与第二接收主镜、第一与第二接收次镜、第一与第二平面转向镜以及分光棱镜；The off-axis receiving system includes: first and second receiving primary mirrors, first and second receiving secondary mirrors, first and second plane diverting mirrors, and a dichroic prism;
所述扫描平面镜向空中发射信号的反射信号反射回扫描平面镜后，被第一与第二接收主镜接收；第一接收主镜将接收到的光信息依次经过第一接收次镜与第一平面转向镜射入分光棱镜；第二接收主镜将接收到的光信息依次经过第二接收次镜与第二平面转向镜射入分光棱镜。The reflected signal emitted by the scanning plane mirror into the air is reflected back to the scanning plane mirror, and is received by the first and second receiving main mirrors; the first receiving main mirror passes the received optical information through the first receiving secondary mirror and the first plane in turn. The diverting mirror enters the beam splitting prism; the second receiving main mirror sequentially passes the received light information through the second receiving secondary mirror and the second plane diverting mirror into the beam splitting prism.
所述光学接收系统还包括：第二电动平台；The optical receiving system also includes: a second motorized platform;
所述ICCD照相机固定在所述第二电动平台上，通过所述第二电动平台上来控制ICCD照相机与校准系统之间的间距。The ICCD camera is fixed on the second motorized platform, and the distance between the ICCD camera and the calibration system is controlled by the second motorized platform.
由上述本发明提供的技术方案可以看出，本系统中发射系统采用二级反射，光路调节非常简单，并具有较高的光学效率；同时，发射、接收的角度与扩束系统可自动调节，能自动将激光光束聚焦到指定位置，解决不能对整个测量路径进行快速扫描测量的问题。It can be seen from the above-mentioned technical solution provided by the present invention that the emission system in this system adopts two-stage reflection, the optical path adjustment is very simple, and has high optical efficiency; at the same time, the angle of emission and reception and the beam expander system can be automatically adjusted, It can automatically focus the laser beam to the specified position, solving the problem that the entire measurement path cannot be quickly scanned and measured.
附图说明Description of drawings
为了更清楚地说明本发明实施例的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域的普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他附图。In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For Those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative work.
图1为本发明实施例提供的一种基于差分像运动法的距离分辨主动大气湍流激光雷达系统的框图；Fig. 1 is a block diagram of a range-resolution active atmospheric turbulence lidar system based on a differential image motion method provided by an embodiment of the present invention;
图2为本发明实施例提供的一种基于差分像运动法的距离分辨主动大气湍流激光雷达系统的结构示意图。FIG. 2 is a schematic structural diagram of a distance-resolved active atmospheric turbulence lidar system based on a differential image motion method provided by an embodiment of the present invention.
具体实施方式Detailed ways
下面结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明的保护范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
图1为本发明实施例提供的一种基于差分像运动法的距离分辨主动大气湍流激光雷达系统的框图。如图1所示，该系统主要包括：激光聚焦发射系统与光学接收系统；其中：FIG. 1 is a block diagram of a distance-resolved active atmospheric turbulence lidar system based on a differential image motion method provided by an embodiment of the present invention. As shown in Figure 1, the system mainly includes: a laser focusing transmitting system and an optical receiving system; among them:
所述激光聚焦发射系统包括：激光器、发射反射镜组、扩束发射系统与扫描平面反射镜；所述激光器发射的激光依次经过发射反射镜组与扩束发射系统射入扫描平面反射镜，由扫描平面镜向空中发射信号；The laser focusing emission system includes: a laser, a transmitting mirror group, a beam expanding emission system and a scanning plane reflecting mirror; the laser light emitted by the laser is sequentially injected into the scanning plane reflecting mirror through the transmitting reflecting mirror group and the beam expanding transmitting system, and is formed by The scanning plane mirror emits signals into the air;
所述光学接收系统包括：离轴接收系统、校准系统与ICCD照相机；扫描平面镜向空中发射信号的反射信号反射回扫描平面镜后，被所述离轴接收系统接收，经由校准系统处理后被照相机接收。The optical receiving system includes: an off-axis receiving system, a calibration system and an ICCD camera; the reflected signal emitted by the scanning plane mirror into the air is reflected back to the scanning plane mirror, received by the off-axis receiving system, and received by the camera after being processed by the calibration system .
为了便于理解，下面对图1中的部件进行细化，并结合图2做进一步的说明。For ease of understanding, the components in FIG. 1 will be detailed below, and further description will be made in conjunction with FIG. 2 .
本发明实施例所提供的系统采用3通道设计，即一个激光发射通道和两个离轴接收通道。如图2所示，所述发射反射镜组包括：第一与第二平面反射镜(图2中的1与2)；所述扩束发射系统包括：发射次镜3与发射主镜4；所述离轴接收系统包括：第一与第二接收主镜(图2中的6与7)、第一与第二接收次镜(图2中的8与9)、第一与第二平面转向镜(图2中的10与11)以及分光棱镜12。The system provided by the embodiment of the present invention adopts a 3-channel design, that is, one laser emitting channel and two off-axis receiving channels. As shown in Figure 2 , the transmitting reflector group includes: first and second plane reflectors (1 and 2 in Figure 2); the beam expanding transmitting system comprises: transmitting secondary mirror 3 and transmitting primary mirror 4; The off-axis receiving system includes: first and second receiving primary mirrors (6 and 7 in FIG. 2 ), first and second receiving secondary mirrors (8 and 9 in FIG. 2 ), first and second planes Turning mirrors (10 and 11 in FIG. 2 ) and dichroic prism 12.
所述激光聚焦发射系统采用反射式卡塞格林结构，所述激光器(532nm ND:YAGlaser)发射的激光依次经过第一与第二平面反射镜后射入发射次镜3，由发射次镜3将激光反射至发射主镜4光形成一定发散角的平行光束，再由扫描平面镜5向空中不同方向发射信号，光信号经过大气散射，反射回扫描平面镜5。The laser focusing emission system adopts a reflective Cassegrain structure, and the laser light emitted by the laser (532nm ND:YAGlaser) passes through the first and second plane reflectors and then enters the secondary mirror 3, and the secondary mirror 3 The laser beam is reflected to the main mirror 4 to form a parallel beam with a certain divergence angle, and then the scanning plane mirror 5 sends signals to different directions in the air. The light signal is scattered by the atmosphere and reflected back to the scanning plane mirror 5 .
示例性的，上述部件可采用如下参数：激光器光斑直径为Ф9mm，可采用型号为Continuum公司的Powerlite DLS 9050激光器，可提供50Hz的532nm的脉冲激光，单脉冲能量≥600mJ，脉冲宽度4～8ns；第一与第二平面反射镜均为Ф40mm的平面镜，平面镜调节采用北京北光世纪光学仪器有限公司的二维调整镜座，型号TP203；发射次镜3为有效口径为Ф9mm的凸抛物面镜，发射主镜4为有效口径为Ф250mm、中心通孔Ф10mm的凹抛物面镜，即光信号的入瞳直径为Ф9mm，出射口径为Ф250mm，扩束倍率约为27.5倍，主次镜之间名义间距为530mm，二者的间距可通过第一电动平台来调节实现不同距离的会聚发射，同时不同距离的聚焦光斑达到最小。扫描平面反射镜5采用一块八角平面反射镜，长度580mm，宽度400mm，厚40mm，由42步进电机驱动一组蜗轮蜗杆传动，实现平面镜的翻转调节；示例性的，蜗轮蜗杆设计参数为：传动比：200，蜗杆头数z1：1，蜗轮齿数z2：200，实际中心距a：225.5mm，蜗杆分度圆直径d1：51mm，蜗轮分度圆直径d2：400mm，法面模数mn：1.998mm。Exemplarily, the above-mentioned components can use the following parameters: the laser spot diameter is Ф9mm, and the model is Powerlite DLS 9050 laser from Continuum Company, which can provide 532nm pulse laser at 50Hz, single pulse energy ≥ 600mJ, and pulse width 4-8ns; Both the first and second plane mirrors are Ф40mm plane mirrors, and the plane mirror adjustment adopts the two-dimensional adjustment mirror base of Beijing Beiguang Century Optical Instrument Co., Ltd., model TP203; the emitting secondary mirror 3 is a convex parabolic mirror with an effective diameter of Ф9mm. The primary mirror 4 is a concave parabolic mirror with an effective aperture of Ф250mm and a central through hole of Ф10mm, that is, the entrance pupil diameter of the optical signal is Ф9mm, the exit aperture is Ф250mm, the beam expansion ratio is about 27.5 times, and the nominal distance between the primary and secondary mirrors is 530mm , the distance between the two can be adjusted by the first motorized platform to achieve convergent emission at different distances, and at the same time, the focused light spots at different distances can be minimized. The scanning plane mirror 5 adopts an octagonal plane mirror with a length of 580 mm, a width of 400 mm, and a thickness of 40 mm. A group of worm gears are driven by 42 stepping motors to realize the flip adjustment of the plane mirror; exemplary, the design parameters of the worm gear are: Ratio: 200, number of worm heads z1: 1, number of worm gear teeth z2: 200, actual center distance a: 225.5mm, worm indexing circle diameter d1: 51mm, worm wheel indexing circle diameter d2: 400mm, legal surface modulus mn: 1.998 mm.
所述扫描平面镜向空中发射信号的反射信号反射回扫描平面镜后，被第一与第二接收主镜接收；第一接收主镜6将接收到的光信息依次经过第一接收次镜8与第一平面转向镜10射入分光棱镜12；第二接收主镜7将接收到的光信息依次经过第二接收次镜9与第二平面转向镜11射入分光棱镜12；通过分光棱镜12将光信号射入校准系统(collimatingsystem)进行光信号的准直与分束，最后在ICCD照相机的不同的区域上形成两个像。The reflected signal of the scanning plane mirror transmitting signal into the air is reflected back to the scanning plane mirror, and is received by the first and second receiving main mirrors; the first receiving main mirror 6 passes the received optical information through the first receiving secondary mirror 8 and the second receiving main mirror in sequence A plane turning mirror 10 is injected into the beam splitting prism 12; the second receiving main mirror 7 will receive the light information through the second receiving secondary mirror 9 and the second plane turning mirror 11 into the beam splitting prism 12; The signal enters the collimating system to collimate and split the optical signal, and finally forms two images on different areas of the ICCD camera.
示例性的，上述部件可采用如下参数：根据接收系统有效口径为Ф100mm、主系统焦距4000mm、视场±0.5mrad等设计要求，第一与第二接收主镜均采用离轴抛物面，次镜采用离轴凸双曲面的光学结构形式，主镜离轴量取为140。望远镜系统设定的坐标中断面Y方向140的离轴量与离轴抛物面Y方向140的离轴量相对应，接收次镜离轴量选取Y方向18，口径为20mm。系统视场选取Y field 0°、±0.0286°等三个视场，工作波长为532mm。ICCD照相机型号为Princeton Instruments公司的PI-MAX4：1024i，像面有1024X1024个像素点，模数转换速率可达到32MHz/16-bit，每秒可提供56帧512×512的图像。Exemplarily, the above-mentioned components can use the following parameters: According to the design requirements of the effective aperture of the receiving system of Ф100mm, the focal length of the main system of 4000mm, and the field of view of ±0.5mrad, the first and second receiving primary mirrors adopt off-axis paraboloids, and the secondary mirror adopts For the optical structure of the off-axis convex hyperboloid, the off-axis measurement of the primary mirror is 140. The off-axis amount of 140 in the Y direction of the coordinate section plane set by the telescope system corresponds to the off-axis amount of 140 in the Y direction of the off-axis paraboloid. The off-axis amount of the receiving secondary mirror is selected as 18 in the Y direction, and the aperture is 20mm. The field of view of the system selects three fields of view: Y field 0°, ±0.0286°, and the working wavelength is 532mm. The model of the ICCD camera is PI-MAX4: 1024i of Princeton Instruments Company, the image plane has 1024X1024 pixels, the analog-to-digital conversion rate can reach 32MHz/16-bit, and can provide 56 frames of 512×512 images per second.
另外，本发明实施例中，所述激光聚焦发射系统还包括：第一电动平台；所述扩束发射系统中的发射次镜固定在所述第一电动平台上，通过所述第一电动平台上来控制扩束发射系统中发射次镜与发射主镜之间的距离，实现激光光束在空间不同距离的会聚。In addition, in the embodiment of the present invention, the laser focusing emission system further includes: a first motorized platform; the transmitting secondary mirror in the beam expanding emission system is fixed on the first motorized platform, It is used to control the distance between the secondary mirror and the primary mirror in the beam expander system, so as to realize the convergence of laser beams at different distances in space.
所述光学接收系统还包括：第二电动平台；所述ICCD照相机固定在所述第二电动平台上，通过所述第二电动平台上来控制ICCD照相机与校准系统之间的间距，可使其对不同距离的测量位置进行成像。The optical receiving system also includes: a second electric platform; the ICCD camera is fixed on the second electric platform, by controlling the distance between the ICCD camera and the calibration system on the second electric platform, it can make it The measurement positions at different distances are imaged.
本发明的方案与现有技术相比，主要具有如下优点：Compared with the prior art, the solution of the present invention mainly has the following advantages:
1)激光发射、接收系统的可自动调节，能够对整个测量路径不同高度进行快速扫描的测量1) The laser emitting and receiving system can be automatically adjusted, and can quickly scan the measurement at different heights of the entire measurement path
a、激光扩束发射系统的次镜具有电控调节功能以实现发射系统不同发射距离的聚焦光斑。a. The secondary mirror of the laser beam expander emission system has the function of electric control adjustment to realize the focusing spot of different emission distances of the emission system.
b、扫描平面镜具有电控扫描功能，发射及接收系统俯仰角范围为30°～90°，便于调节测量的方向。b. The scanning plane mirror has electronically controlled scanning function, and the pitch angle range of the transmitting and receiving system is 30°～90°, which is convenient for adjusting the direction of measurement.
c、光学接收系统可调节，ICCD固定于电控平移台，可以由程序控制前后移动，以实现对应不同的测量距离自动调焦。c. The optical receiving system is adjustable, and the ICCD is fixed on the electronically controlled translation platform, which can be moved back and forth by program control to realize automatic focusing corresponding to different measurement distances.
2)简化了激光光束出射光路，激光器发射的激光经过二级反射，扩束后直接经平面扫面镜射入大气。减少了能量消耗，降低了光路调节难度。2) Simplify the exiting optical path of the laser beam. The laser emitted by the laser undergoes secondary reflection, expands the beam, and directly enters the atmosphere through the plane scanning mirror. Energy consumption is reduced, and the difficulty of optical path adjustment is reduced.
3)支撑平台上面板采用标准光学平台，支撑平台底面具有四只可调整水平的支撑腿，并具有可实现小范围移动的转向轮，同时支撑平台具有起吊装置，便于整体起吊及搬运。3) The upper panel of the support platform adopts a standard optical platform. The bottom surface of the support platform has four adjustable support legs, and has a steering wheel that can move in a small range. At the same time, the support platform has a lifting device, which is convenient for overall lifting and handling.
4)激光器及发射接收系统均由隔热板密封，最大程度上保证内部温度稳定性。4) The laser and the transmitting and receiving system are sealed by a heat shield to ensure internal temperature stability to the greatest extent.
5)非工作状态下扫描平面镜可收藏于密封舱内，以保持仪器外观的美观及光学组件的洁净。5) The scanning plane mirror can be stored in the airtight cabin in the non-working state to keep the appearance of the instrument beautiful and the optical components clean.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明披露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person familiar with the technical field can easily conceive of changes or changes within the technical scope disclosed in the present invention. Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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