CN105137415B - The apparatus and method that laser range finder field of view of receiver is demarcated and parallelism of optical axis is measured - Google Patents
The apparatus and method that laser range finder field of view of receiver is demarcated and parallelism of optical axis is measured Download PDFInfo
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- CN105137415B CN105137415B CN201510272002.0A CN201510272002A CN105137415B CN 105137415 B CN105137415 B CN 105137415B CN 201510272002 A CN201510272002 A CN 201510272002A CN 105137415 B CN105137415 B CN 105137415B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- Length Measuring Devices By Optical Means (AREA)
Abstract
The apparatus and method that laser range finder field of view of receiver is demarcated and parallelism of optical axis is measured.The present invention relates to the apparatus and method that a kind of laser range finder receives central vision demarcation and visual field test, including Calibrating source, beam shaping and accurate adjustment component, diffusing transmission plate, power meter, parallel light tube, testing laser range-measurement system and oscillograph.The present invention not only can receive central vision with Calibration of Laser, measure field of view of receiver scope, and can carry out launching optical axis with receiving the measurement of parallelism of optical axis.Its feature, which is mainly manifested in, to be produced analogue echo using the auxiliary calibration light source of high light beam quality and scans field of view of receiver, is realized to the demarcation of laser range finder central vision, the measurement of field range and the measurement for receiving and dispatching parallelism of optical axis.
Description
Technical field
The present invention relates to view calibration and e measurement technology, particularly relate to a kind of based on secondary light source progress central vision demarcation
The apparatus and method accurately measured with field of view of receiver.
Background technology
Space long distance laser range-measurement system is mainly used in spaceborne laser-measured height over the ground, the measurement of space Small object, space
The fields such as spacecrafts rendezvous, the usual very little of laser emission angle, microradian to milliradian magnitude, in order to avoid background miscellaneous light is to detection spirit
The influence of sensitivity, the reception system angle of visual field is also as far as possible small, and field of view of receiver must in high precision be matched with transmitting visual field, small
Optical axis included angle error can all cause the reduction loss and the reduction of detection probability of backward energy during long-range detection.Therefore receive and regard
Field is extremely important with launching the high accuracy and high stability of visual field to match for space laser range-measurement system.
For LDMS, transmitting optical axis determines the facula position at target range, to ensure that echo is visited
The high probability and high s/n ratio of survey, the hot spot of transmitting must be covered by field of view of receiver, and the size of the visual field is general to be by receiving
The optical design of system determines that the sensing angle of the visual field is then determined by reception optical axis.Therefore, optical axis is received with launching being total to for optical axis
Axle degree is most important to laser range finder performance.For example, in spaceborne LDMS over the ground, operating distance is usually
400km~500km, the little deviation of laser transmitting-receiving optical axis included angle can all cause that launch spot is deflected away from or part is deflected away from reception and regarded
, so as to cause echo-signal energy to decline or even lose, lower detection probability and system signal noise ratio；In space, Small object is moved greatly
In state scope LDMS, the little deviation of laser transmitting-receiving optical axis can cause launch spot and field of view of receiver deviation with away from
From increase constantly increase, therefore the BURN-THROUGH RANGE of such a system can be influenceed, reduction detection probability and system signal noise ratio.
Therefore, need to measure optical axis matching and calibration when test is debug on LDMS ground, make
Optical-mechanical system central vision and transmitting optical axis high registration accuracy must be received, central vision and peripheral field are demarcated and surveyed
Amount.In addition, after the completion of system is debug, various environmental experiments, indoor test, field testing are undergone, by various power, heat, electricity
Ambient influnence, accurately detection parallelism of optical axis and the skew of reception central vision are for determining that system mode is very important.
Existing method of testing is both for the test device and method of the matching degree of transmitting-receiving optical axis, different laser rangings
The test device and method that system is used are different, but the demarcation and test for field of view of receiver are still without pertinent literature.
The content of the invention
Long-focus collimator, accurate quarter are utilized it is an object of the invention to overcome the deficiencies of the prior art and provide one kind
The secondary light source of diffusing transmission plate and high light beam quality is spent, the accurate measurement of offset and the height of transmitting-receiving optical axis can be realized
Debug with degree, compared to other apparatus and method, it is possible to achieve high accuracy, quantitative measurment optical axis included angle and field range.
The object of the invention is achieved by following technical solution：
A kind of laser range finder measurement apparatus is provided, central vision demarcation is received for laser range finder and measures, or use
Launch and receive parallelism of optical axis measurement in laser range finder, including auxiliary calibration light source, beam shaping and accurate adjustment component,
Diffusing transmission plate, power meter, parallel light tube, testing laser range-measurement system and oscillograph；
The beam shaping and accurate adjustment component include laser beam expanding camera lens, energy attenuator, laser plus lens and
Accurate adjustment frame composition；Expander lens, energy attenuator and plus lens are installed in three-dimensional precise adjustment frame；Diffusing transmission plate
On the focal plane for being placed on laser plus lens；
The testing laser range-measurement system includes laser transmitter, receiving optics, detection and amplification system；It is unrestrained
Transmittance plate is placed on the focal plane of parallel light tube, the laser that laser transmitter is sent converged by parallel light tube after in diffusing transmission
Hot spot is formed on plate；
The laser beam that auxiliary calibration light source (1) is sent, after the collimator and extender of laser beam expanding camera lens (201), adjustment
The differential declines multiplying power of energy attenuator (202), again is coupled in plus lens (203), and light is formed on diffusing transmission plate (3)
Spot, is transmitted to receiving optics (602) by parallel light tube (5), is sent through detection and amplification system (603) to oscillography
Device (7)；When needing the test to incide the luminous power P in parallel light tube (5), by power meter (4) be placed on diffusing transmission plate (3) with it is flat
Between row light pipe (5), the distance apart from parallel light tube (5) focal plane is：D=D1*f/D2, D1 are effective receiving port of power meter
Footpath, D2 is the bore of parallel light tube, and f is the focal length of parallel light tube.
A kind of laser range finder transmitting and the method for receiving parallelism of optical axis measurement are provided simultaneously, comprised the following steps：
1) after the completion of the transmitting-receiving optical-axis parallelism of testing laser range-measurement system, laser transmitter is opened, is sent out by laser
The laser that the machine of penetrating is sent forms hot spot A, record hot spot A position on diffusing transmission plate after being converged by parallel light tube；
2) laser transmitter is closed, auxiliary calibration light source is opened, laser beam is sent, by the collimation of laser beam expanding camera lens
After expanding, it again is coupled in plus lens, hot spot is formed on diffusing transmission plate, the accurate adjustment frame of adjustment converges to hot spot unrestrained
The center of transmittance plate, the center of diffusing transmission plate is the center of parallel light tube focal plane；
3) power meter (4) is placed between diffusing transmission plate (3) and parallel light tube (5), parallel light tube (5) is incided in detection
Interior luminous power P, distance of the power meter (4) apart from parallel light tube (5) focal plane be：D=D1*f/D2, wherein D1 are power meter
(4) effective Receiver aperture, D2 is the bore of parallel light tube (5), and f is the focal length of parallel light tube (5)；Calculate LDMS
(6) the analogue echo luminous power P ' received, calculation formula is as follows：P '=P*D3/D2, wherein, D3 is LDMS (6)
Effective Receiver aperture；Decay multiplying power is set, the analogue echo luminous power P ' that LDMS (6) is received is received back at it
In the dynamic range of ripple, energy attenuator (202) is opened, and withdraw power meter；Adjustment three-dimensional precise adjustment frame (204) makes auxiliary
The hot spot of Calibrating source (1) formation is overlapped with hot spot A position, and the simulation that diffusing transmission plate (3) produces laser transmitter (601) is returned
Ripple；
4) receiving optics, detection and amplification system and oscillograph, regulation three-dimensional precise adjustment frame difference are opened
Carry out the echo waveform of the visual field scanning of pitching and orientation, recording oscillometer collection detection and amplification system output, mark
Center the analogue echo focus that visual field corresponded on diffusing transmission plate；
5) the relative displacement Δ d of the analogue echo focus on diffusing transmission plate and Laser emission picture point is calculated, echo letter is calculated
Number optical axis with transmitting optical axis angle error
6) Δ θ is determined as that transmitting-receiving optical-axis parallelism is qualified in threshold range, then；Δ θ exceedes given threshold, then sentences
It is set to transmitting-receiving optical-axis parallelism unqualified, need to readjusts.
A kind of method that laser range finder receives central vision demarcation and measurement is provided, comprised the following steps：
1) after the completion of the transmitting-receiving optical-axis parallelism of testing laser range-measurement system (6), laser transmitter (601) is opened,
The laser sent by laser transmitter (601) forms hot spot A after being converged by parallel light tube (5) on diffusing transmission plate (3), records
Hot spot A position；
2) laser transmitter (601) is closed, auxiliary calibration light source (1) is opened, laser beam is sent, by laser beam expanding lens
After the collimator and extender of head (201), it again is coupled in plus lens (203), hot spot is formed on diffusing transmission plate (3), adjustment is accurate
Adjustment frame (204), makes hot spot converge to the center of diffusing transmission plate (3), the center of diffusing transmission plate (3) is parallel light tube focal plane
Center；
3) power meter (4) is placed between diffusing transmission plate (3) and parallel light tube (5), parallel light tube (5) is incided in detection
Interior luminous power P, distance of the power meter (4) apart from parallel light tube (5) focal plane be：D=D1*f/D2, wherein D1 are power meter
(4) effective Receiver aperture, D2 is the bore of parallel light tube (5), and f is the focal length of parallel light tube (5)；Calculate LDMS
(6) the analogue echo luminous power P ' received, calculation formula is as follows：P '=P*D3/D2, wherein, D3 is LDMS (6)
Effective Receiver aperture；Decay multiplying power is set, the analogue echo luminous power P ' that LDMS (6) is received is received back at it
In the dynamic range of ripple, energy attenuator (202) is opened, and withdraw power meter；Adjustment three-dimensional precise adjustment frame (204) makes auxiliary
The hot spot of Calibrating source (1) formation is overlapped with hot spot A position, and the simulation that diffusing transmission plate (3) produces laser transmitter (601) is returned
Ripple；
4) receiving optics (602), detection and amplification system (603) and oscillograph (7), the three-dimensional essence of regulation are opened
Close adjustment frame (204) carries out the visual field scanning of pitching and orientation respectively, is specially：Using hot spot A points as origin, trunnion axis is x
Axle, vertical axes are y-axis, set up plane right-angle coordinate；Make orientation forward migrations of the hot spot A along y-axis, wave recording amplitude and arteries and veins
Width, untill no signal is exported, records and demarcates the location point B1 (0, y when waveform disappears on correspondence diffusing transmission plate (3)B1) and
Location point B2 (0, y during amplitude highest on correspondence diffusing transmission plate (3)B2)；Then offset along the opposite direction of y-axis, record and demarcate
Location point C1 (0, y when waveform disappears on correspondence diffusing transmission plate (3)C1) with amplitude highest when corresponding diffusing transmission plate (3) on position
Put point C2 (0, yC2), skew along the x-axis direction records and demarcates location point D1 when waveform disappears on correspondence diffusing transmission plate (3)
(xD1, 0), location point D2 (x during with amplitude highest on corresponding diffusing transmission plate (3)D2,0)；Then offset along the opposite direction of x-axis,
Record and demarcate location point E1 (x when waveform disappears on correspondence diffusing transmission plate (3)E1, 0), corresponding diffusing transmission during with amplitude highest
Location point E2 (x on plate (3)E2,0)；Compare B2, A, the corresponding vertical seat of the size of C2 points correspondence amplitude, wherein amplitude maximum point
It is designated as ymax；Compare D2, A, the size of E2 points correspondence amplitude, the wherein corresponding abscissa of amplitude maximum point are xmax；Analogue echo
The coordinate of signal focus is (xmax, ymax)；
5) calculating of field range is carried out, x is calculatedD1-xE1, yB1-yC1The respectively horizontally and vertically visual field model of both direction
Enclose.
Wherein, step 4) in, regulation three-dimensional precise adjustment frame (204) carries out the visual field scanning of pitching and orientation respectively,
Recording oscillometer (7) collection detection and the echo waveform of amplification system (603) output, demarcation central vision corresponds to unrestrained saturating
The specific method for the analogue echo focus penetrated on plate (3) is：Using hot spot A points as origin, trunnion axis is x-axis, and vertical axes are y-axis,
Set up plane right-angle coordinate；Make orientation forward migrations of the hot spot A along y-axis, wave recording amplitude and pulsewidth, until no signal is defeated
Untill going out, record and demarcate the location point B1 (0, y when waveform disappears on correspondence diffusing transmission plate (3)B1) with amplitude highest when it is corresponding
Location point B2 (0, y on diffusing transmission plate (3)B2)；Then offset along the opposite direction of y-axis, record and demarcate correspondence when waveform disappears
Location point C1 (0, y on diffusing transmission plate (3)C1) with amplitude highest when corresponding diffusing transmission plate (3) on location point C2 (0, yC2),
Skew along the x-axis direction, records and demarcates location point D1 (x when waveform disappears on correspondence diffusing transmission plate (3)D1, 0), and amplitude
Location point D2 (x during highest on correspondence diffusing transmission plate (3)D2,0)；Then offset along the opposite direction of x-axis, record and demarcate waveform
Location point E1 (x during disappearance on correspondence diffusing transmission plate (3)E1, 0), location point during with amplitude highest on corresponding diffusing transmission plate (3)
E2(xE2,0)；Compare B2, A, the size of C2 points correspondence amplitude, the wherein corresponding ordinate of amplitude maximum point are ymax；Compare D2,
The size of A, E2 point correspondence amplitude, the wherein corresponding abscissa of amplitude maximum point are xmax；The coordinate of analog echo signal focus is
(xmax, ymax)。
Wherein, step 5) the middle relative displacement for calculating analogue echo focus and Laser emission picture point on diffusing transmission plate (3)
Δ d formula are：
Change analogue echo power, then repeat calculating simulation echo-signal focus relative with Laser emission picture point
Displacement, averages as Δ d, calculates Δ θ.
Wherein, the laser beam is pulse energy 1uJ, 5~10Hz of repetition rate, pulse width 10ns.
The present invention has the following advantages that compared with prior art：
(1) view calibration, scope measurement and the measurement of paralleism that the machine system after the completion of the present invention is to debuging is carried out,
The overall performance test after experiment can be realized.
(2) present invention sets auxiliary calibration light-source system, and the analogue echo of laser transmitter is produced using diffusing transmission plate, is
After system is determined, without mobile laser transmitter in test process, it is only necessary to adjust beam shaping and accurate adjustment component, it is to avoid because
The error introduced for mobile testing laser range-measurement system.
(3) present invention using set of device simultaneously realize laser range finder transmitting and receive parallelism of optical axis measurement and in
The calibration of heart visual field and measurement, it is cost-effective, it is simple to operate.
Brief description of the drawings
Fig. 1 is that secondary light source of the present invention demarcates schematic diagram；
Fig. 2 is field of view of receiver angle measuring device schematic diagram of the present invention；
Fig. 3 is the demarcation groove and calibration position schematic diagram of diffusing transmission plate 3；
Fig. 4 is that amplitude extreme higher position point schematic diagram is offset centered on launching optical axis calibration point A.
Embodiment
LDMS ground needs to measure optical axis matching and calibration when debuging test so that receive
Optical-mechanical system central vision and transmitting optical axis high registration accuracy.Assay method proposed by the present invention makes emitting laser launch
Laser gets picture point after being reflected by parallel light tube at light pipe focal plane, demarcates transmitting optical axis with this, then passes through secondary light source
Analog echo signal source is made, the echo of different visual fields is simulated by changing the optical axis sensing of signal source, by changing signal
The intensity of the different echo-signals of the power analog in source, the angle error Δ θ of the optical axis and transmitting optical axis of echo-signal passes through measurement
The vector correlation for the picture point that analog signal focus launches laser with rangefinder is demarcated at focal surface of collimator tube, and calculation formula is such as
Under：
Wherein Δ d is the relative displacement of analog signal focus and Laser emission picture point, and f is the focal length of parallel light tube.
Intensity is then determined by laser power meter, bent by determining response of the reception system to different angle of visual field analogue echos
Line, is demarcated and is measured to the central vision and peripheral field of reception system, and derives the axiality of transmitting-receiving optical axis accordingly.
By changing signal source power, the echo-signal of different distance target to be measured can be simulated, with the measurement distance of this calibration system.
The test device of the present invention mainly includes：Auxiliary calibration light source 1, beam shaping and accurate adjustment component 2, diffusing transmission
Plate 3, power meter 4, parallel light tube 5, testing laser range-measurement system 6 and oscillograph 7.Wherein described beam shaping is adjusted with accurate
Component 2 includes laser beam expanding camera lens 201, energy attenuator 202, laser plus lens 203 and accurate adjustment frame 204 and constituted, and uses
In generation power adjustable, the adjustable convergence auxiliary calibration light source 1 in locus.Described testing laser range-measurement system 6 includes swashing
Optical sender 601, receiving optics 602, detection and amplification system 603, carry out calibration for launching laser, receive mould
Intend echo and detected.
Laser range finder field of view of receiver method of testing of the invention based on secondary light source is realized by following steps：
1st, secondary light source is demarcated
Auxiliary calibration light source 1 sends pulse energy 1uJ, 5~10Hz of repetition rate, pulse width 10ns optical fiber output
Laser beam, after the collimator and extender of laser beam expanding camera lens 201, adjusts the differential declines multiplying power of energy attenuator 202, then coupling
Close plus lens 203 and carry out light beam convergence, and focal beam spot is produced on diffusing transmission plate 3.Due to expander lens 201, energy
Attenuator 202 and plus lens 203 are installed in three-dimensional precise adjustment frame 204, therefore by adjusting adjustment frame 204, can
Convergence hot spot is accurately pointed to the calibration position point of diffusing transmission plate 3, as shown in Figure 1.
As shown in Fig. 2 the calibration position point that diffusing transmission plate is placed on the focal plane of parallel light tube 5, diffusing transmission plate is
The optical axis of laser transmitter 601 is determined in testing laser range-measurement system 6, after the completion of transmitting-receiving optical-axis parallelism, by swashing
The laser that optical sender 601 is sent is that secondary light source needs what is demarcated by the point after the convergence of parallel light tube 5 on focal plane
Location point.
Then the demarcation of progress pulse power, effective Receiver aperture D1 of power meter, the bore D2 of parallel light tube, focal length f,
Power meter is apart from parallel light tube focal plane, i.e. diffusing transmission plate 3 apart from d=D1*f/D2；Then power meter 4 is placed on burnt flat
Behind face at the distance, measurement secondary light source 1 incides the luminous power P in parallel light tube 5 after diffusing reflection.According to parallel light tube
5 bore D2 and the effective Receiver aperture D3 of LDMS 6 ratio, you can calculate what LDMS 6 was received
Analogue echo luminous power P ', calculation formula is as follows：P '=P*D3/D2, LDMS 6 receives the dynamic range of echo for example
For：1×10-8W-1mw, adjusts the decay multiplying power of attenuator 202, the analogue echo luminous power for receiving LDMS 6
P ' is in the dynamic range that it receives echo.
2nd, visual field test
Laser transmitter (601) is opened, after the laser sent by laser transmitter (601) is converged by parallel light tube (5)
Hot spot A, record hot spot A position are formed on diffusing transmission plate (3)；
As shown in figure 3, secondary light source calibration position is adjusted into A points, that is, launches the location point of optical axis demarcation, then measure
The waveform of the echo-signal of detection is received in LDMS, method is defeated with the collection of oscillograph 7 detection and amplifying circuit 603
The echo waveform gone out, wave recording amplitude and pulsewidth；Then the orientation carried out to auxiliary calibration light source 1 centered on A points is positive
Skew, wave recording amplitude and pulsewidth untill no signal is exported, record and demarcate waveforms amplitude and begin to decline and disappear with waveform
The two critical positions points lost.Then orientation reserve migration and the positive and negative both direction of pitch orientation are done in the same fashion
Offset and record calibration position.Diverse location of the auxiliary calibration light source 1 on diffusing transmission plate 3, represents different visual fields, works as A
When the light that point is sent exceeds field of view of receiver, echo amplitude will decline, and the scope of field of view of receiver is judged with this.
There is certain difference in view of the strong and weak response and waveform output to receiving detection system of backward energy, therefore
The decay multiplying power of adjustment secondary light source is needed, changes analogue echo power, then using above-mentioned identical operating procedure, is carried out many
Group test and demarcation, it is finally multigroup to take average determination field of view of receiver.
3rd, central vision calibration
During above-mentioned field of view of receiver angular measurement, the corresponding auxiliary calibration light source 1 of field of view of receiver is have recorded in diffusing transmission
Position and scope on plate, so as to obtain position point coordinates of the corresponding auxiliary calibration light source 1 of central vision on diffusing transmission plate.
By being compared with the optical axis calibration point A of laser transmitter in Fig. 3 601, central vision and Laser emission light can be received
The angle error of axle.If error is beyond allowable error scope, illustrates to receive and launch optical-axis parallelism angle and be discontented with
Foot is required, it is necessary to carry out calibration to systematic optical axis again.
One embodiment of the invention is provided below according to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and is elaborated：
Fig. 1 is auxiliary Source calibration schematic diagram, by laser beam expanding camera lens 201, energy attenuator 202, laser plus lens
203 constitute with accurate adjustment frame 204.The optical-fiber laser signal that laser beam expanding camera lens 201 is exported to Calibrating source carries out collimation expansion
Transmission-type camera lens is used in beam, the present embodiment, multiplying power is expanded and is determined according to light beam of light source quality and attenuator size；Energy attenuation
Device 202 can be carried out in the energy attenuation of 5db to 70db scopes, the present embodiment by changing different attenuator combination realizations not
With decay multiplying power；Plus lens 203 is can be by the laser light after collimation in the anti-reflection convex lens of a Single wavelength, the present embodiment
Beam is focused into small light spot, is used as the sphere light source of parallel light tube.Three-dimensional precise adjustment frame 204 can realize orientation, vertical and bow
Face upward the sensing position for being used to adjusting and recording convergence hot spot in fine setting and the vision-control amount in direction, the present embodiment.
Fig. 2 is that field of view of receiver is demarcated and measurement apparatus schematic diagram, and device is adjusted by Calibrating source 1, beam shaping with accurate
Component 2, diffusing transmission plate 3, power meter 4, parallel light tube 5, testing laser range-measurement system 6 and oscillograph 7.Calibrating source uses pulse
Pulse energy 1uJ in the laser of optical fiber output, the present embodiment, 5~10Hz of repetition rate, pulse width 10ns, single-mode fiber
Output；Diffusing transmission plate is made up of plate face, groove and adjustment support；Power meter is the power meter of pW~mW magnitude measurement ranges；It is flat
Row light pipe uses the focal plane and center of parallel light tube in 10~12m long-focus reflective parallel light pipes, the present embodiment to be accurate
Demarcation；Testing laser range-measurement system is made up of laser transmitter system, receiving optics and detection and amplifying circuit, this reality
Apply in example, Laser emission optical axis and reception optical-axis parallelism have been completed, and the measurement of the angle of visual field is on the basis of launching optical axis.
Oscillograph is used to gather wave recording amplitude and pulsewidth in the echo waveform that detection and amplifying circuit 603 are exported, the present embodiment.
Fig. 3 is that the precision of groove in the demarcation groove and calibration position schematic diagram of diffusing transmission plate 3, figure is 0.5mm, and A points are
, it is necessary to which the hot spot that Calibrating source 1 is converged is in diffusing transmission during the source location set of transmitting optical axis demarcation, the measurement angle of visual field
Orientation and pitching are carried out on plate to skew, it is record-shifted during echo amplitude and pulsewidth, as demarcation central vision and
Measure the foundation of the angle of visual field.
Fig. 4 is that amplitude extreme higher position point schematic diagram is offset centered on hot spot A, and using hot spot A points as origin, trunnion axis is x
Axle, vertical axes are y-axis, set up plane right-angle coordinate；Make orientation forward migrations of the hot spot A along y-axis, wave recording amplitude and arteries and veins
Width, untill no signal is exported, records and demarcates the location point B1 (0, y when waveform disappears on correspondence diffusing transmission plate (3)B1) and
Location point B2 (0, y during amplitude highest on correspondence diffusing transmission plate (3)B2)；Then offset along the opposite direction of y-axis, record and demarcate
Location point C1 (0, y when waveform disappears on correspondence diffusing transmission plate (3)C1) with amplitude highest when corresponding diffusing transmission plate (3) on position
Put point C2 (0, yC2), skew along the x-axis direction records and demarcates location point D1 when waveform disappears on correspondence diffusing transmission plate (3)
(xD1, 0), location point D2 (x during with amplitude highest on corresponding diffusing transmission plate (3)D2,0)；Then offset along the opposite direction of x-axis,
Record and demarcate location point E1 (x when waveform disappears on correspondence diffusing transmission plate (3)E1, 0), corresponding diffusing transmission during with amplitude highest
Location point E2 (x on plate (3)E2,0)；Compare B2, A, the corresponding vertical seat of the size of C2 points correspondence amplitude, wherein amplitude maximum point
It is designated as ymax；Compare D2, A, the size of E2 points correspondence amplitude, the wherein corresponding abscissa of amplitude maximum point are xmax；Calculating simulation
The relative displacement of echo-signal focus and Laser emission picture pointCalculate the optical axis and hair of echo-signal
Penetrate the angle error of optical axis
Δ θ is determined as that transmitting-receiving optical-axis parallelism is qualified in threshold range, then；Δ θ exceedes given threshold, then judges
It is unqualified for transmitting-receiving optical-axis parallelism, it need to readjust.
It is described above, it is only the optimal embodiment of the present invention, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (6)
1. a kind of laser range finder transmitting and the method for receiving parallelism of optical axis measurement based on laser range finder measurement apparatus, institute
Stating laser range finder measurement apparatus includes auxiliary calibration light source (1), beam shaping and accurate adjustment component (2), diffusing transmission plate
(3), power meter (4), parallel light tube (5), testing laser range-measurement system (6) and oscillograph (7)；
The beam shaping includes laser beam expanding camera lens (201), energy attenuator (202), laser with accurate adjustment component (2) and converged
Poly- lens (203) and three-dimensional precise adjustment frame (204) composition；Expander lens (201), energy attenuator (202) and plus lens
(203) it is installed in three-dimensional precise adjustment frame (204)；Diffusing transmission plate (3) is placed on the focal plane of laser plus lens (203)
On；
The testing laser range-measurement system (6) includes laser transmitter (601), receiving optics (602), detection and amplification electricity
Road system (603)；Diffusing transmission plate (3) is placed on the focal plane of parallel light tube (5), the laser that laser transmitter (601) is sent
After being converged by parallel light tube (5) hot spot is formed on diffusing transmission plate (3)；
The laser beam that auxiliary calibration light source (1) is sent, after the collimator and extender of laser beam expanding camera lens (201), adjusts energy
The differential declines multiplying power of attenuator (202), again is coupled in plus lens (203), and hot spot is formed on diffusing transmission plate (3), is led to
Cross parallel light tube (5) to transmit to receiving optics (602), sent through detection and amplification system (603) to oscillograph
(7)；When needing the test to incide the luminous power P in parallel light tube (5), by power meter (4) be placed on diffusing transmission plate (3) with it is parallel
Between light pipe (5), the distance apart from parallel light tube (5) focal plane is：D=D1*f/D2, D1 are effective receiving port of power meter
Footpath, D2 is the bore of parallel light tube, and f is the focal length of parallel light tube；
It is characterized in that comprising the following steps：
1) after the completion of the transmitting-receiving optical-axis parallelism of testing laser range-measurement system (6), laser transmitter (601) is opened, by swashing
The laser that optical sender (601) is sent forms hot spot A on diffusing transmission plate (3) after being converged by parallel light tube (5), record hot spot
A position；
2) laser transmitter (601) is closed, auxiliary calibration light source (1) is opened, laser beam is sent, by laser beam expanding camera lens
(201) after collimator and extender, it again is coupled in plus lens (203), hot spot, the three-dimensional essence of adjustment is formed on diffusing transmission plate (3)
Close adjustment frame (204), makes hot spot converge to the center of diffusing transmission plate (3), the center of diffusing transmission plate (3) is that parallel light tube Jiao is flat
The center in face；
3) power meter (4) is placed between diffusing transmission plate (3) and parallel light tube (5), detection is incided in parallel light tube (5)
Luminous power P, distance of the power meter (4) apart from parallel light tube (5) focal plane be：D=D1*f/D2, wherein D1 are power meter (4)
Effective Receiver aperture, D2 is the bore of parallel light tube (5), and f is the focal length of parallel light tube (5)；LDMS (6) is calculated to connect
The analogue echo luminous power P ' received, calculation formula is as follows：P '=P*D3/D2, wherein, D3 is that LDMS (6) is effective
Receiver aperture；Decay multiplying power is set, the analogue echo luminous power P ' that LDMS (6) is received is received echo at it
In dynamic range, energy attenuator (202) is opened, and withdraw power meter；Adjustment three-dimensional precise adjustment frame (204) makes auxiliary calibration
The hot spot of light source (1) formation is overlapped with hot spot A position, and diffusing transmission plate (3) produces the analogue echo of laser transmitter (601)；
4) receiving optics (602), detection and amplification system (603) and oscillograph (7) are opened, regulation three-dimensional precise is adjusted
Whole frame (204) carries out the visual field scanning of pitching and orientation, recording oscillometer (7) collection detection and amplification system respectively
(603) echo waveform of output, the analogue echo focus that demarcation central vision is corresponded on diffusing transmission plate (3)；
5) the relative displacement Δ d of the analogue echo focus on diffusing transmission plate (3) and Laser emission picture point is calculated, echo-signal is calculated
Optical axis with transmitting optical axis angle error
6) Δ θ is determined as that transmitting-receiving optical-axis parallelism is qualified in threshold range, then；Δ θ exceedes given threshold, then is determined as
Receive and dispatch optical-axis parallelism unqualified, need to readjust.
2. method according to claim 1, it is characterised in that step 4) in, regulation three-dimensional precise adjustment frame (204) is entered respectively
The echo ripple of row pitching and the visual field scanning of orientation, recording oscillometer (7) collection detection and amplification system (603) output
Shape, the specific method of analogue echo focus that demarcation central vision is corresponded on diffusing transmission plate (3) is：Using hot spot A points as origin,
Trunnion axis is x-axis, and vertical axes are y-axis, set up plane right-angle coordinate；Make orientation forward migrations of the hot spot A along y-axis, marking wave
Shape amplitude and pulsewidth, untill no signal is exported, record and demarcate location point when waveform disappears on correspondence diffusing transmission plate (3)
B1(0,yB1) with amplitude highest when corresponding diffusing transmission plate (3) on location point B2 (0, yB2)；Then offset along the opposite direction of y-axis,
Record and demarcate the location point C1 (0, y when waveform disappears on correspondence diffusing transmission plate (3)C1) with amplitude highest when corresponding diffusing transmission plate
(3) the location point C2 (0, y onC2), skew along the x-axis direction is recorded and demarcated when waveform disappears on correspondence diffusing transmission plate (3)
Location point D1 (xD1, 0), location point D2 (x during with amplitude highest on corresponding diffusing transmission plate (3)D2,0)；Then along the negative side of x-axis
To skew, record and demarcate location point E1 (x when waveform disappears on correspondence diffusing transmission plate (3)E1, 0), it is corresponding during with amplitude highest
Location point E2 (x on diffusing transmission plate (3)E2,0)；Compare B2, A, the wherein size of C2 points correspondence amplitude, amplitude maximum point correspondence
Ordinate be ymax；Compare D2, A, the size of E2 points correspondence amplitude, the wherein corresponding abscissa of amplitude maximum point are xmax；Mould
The coordinate for intending echo-signal focus is (xmax, ymax)。
3. method according to claim 2, it is characterised in that step 5) in calculate analogue echo focus on diffusing transmission plate (3)
Relative displacement Δ d formula with Laser emission picture point are：
4. a kind of method that laser range finder based on laser range finder measurement apparatus receives central vision demarcation and measurement, described
Laser range finder measurement apparatus, including auxiliary calibration light source (1), beam shaping and accurate adjustment component (2), diffusing transmission plate (3),
Power meter (4), parallel light tube (5), testing laser range-measurement system (6) and oscillograph (7)；
The beam shaping includes laser beam expanding camera lens (201), energy attenuator (202), laser with accurate adjustment component (2) and converged
Poly- lens (203) and three-dimensional precise adjustment frame (204) composition；Expander lens (201), energy attenuator (202) and plus lens
(203) it is installed in three-dimensional precise adjustment frame (204)；Diffusing transmission plate (3) is placed on the focal plane of laser plus lens (203)
On；
The testing laser range-measurement system (6) includes laser transmitter (601), receiving optics (602), detection and amplification electricity
Road system (603)；Diffusing transmission plate (3) is placed on the focal plane of parallel light tube (5), the laser that laser transmitter (601) is sent
After being converged by parallel light tube (5) hot spot is formed on diffusing transmission plate (3)；
The laser beam that auxiliary calibration light source (1) is sent, after the collimator and extender of laser beam expanding camera lens (201), adjusts energy
The differential declines multiplying power of attenuator (202), again is coupled in plus lens (203), and hot spot is formed on diffusing transmission plate (3), is led to
Cross parallel light tube (5) to transmit to receiving optics (602), sent through detection and amplification system (603) to oscillograph
(7)；When needing the test to incide the luminous power P in parallel light tube (5), by power meter (4) be placed on diffusing transmission plate (3) with it is parallel
Between light pipe (5), the distance apart from parallel light tube (5) focal plane is：D=D1*f/D2, D1 are effective receiving port of power meter
Footpath, D2 is the bore of parallel light tube, and f is the focal length of parallel light tube；
It is characterized in that comprising the following steps：
1) after the completion of the transmitting-receiving optical-axis parallelism of testing laser range-measurement system (6), laser transmitter (601) is opened, by swashing
The laser that optical sender (601) is sent forms hot spot A on diffusing transmission plate (3) after being converged by parallel light tube (5), record hot spot
A position；
2) laser transmitter (601) is closed, auxiliary calibration light source (1) is opened, laser beam is sent, by laser beam expanding camera lens
(201) after collimator and extender, it again is coupled in plus lens (203), hot spot, the three-dimensional essence of adjustment is formed on diffusing transmission plate (3)
Close adjustment frame (204), makes hot spot converge to the center of diffusing transmission plate (3), the center of diffusing transmission plate (3) is that parallel light tube Jiao is flat
The center in face；
3) power meter (4) is placed between diffusing transmission plate (3) and parallel light tube (5), detection is incided in parallel light tube (5)
Luminous power P, distance of the power meter (4) apart from parallel light tube (5) focal plane be：D=D1*f/D2, wherein D1 are power meter (4)
Effective Receiver aperture, D2 is the bore of parallel light tube (5), and f is the focal length of parallel light tube (5)；LDMS (6) is calculated to connect
The analogue echo luminous power P ' received, calculation formula is as follows：P '=P*D3/D2, wherein, D3 is that LDMS (6) is effective
Receiver aperture；Decay multiplying power is set, the analogue echo luminous power P ' that LDMS (6) is received is received echo at it
In dynamic range, energy attenuator (202) is opened, and withdraw power meter；Adjustment three-dimensional precise adjustment frame (204) makes auxiliary calibration
The hot spot of light source (1) formation is overlapped with hot spot A position, and diffusing transmission plate (3) produces the analogue echo of laser transmitter (601)；
4) receiving optics (602), detection and amplification system (603) and oscillograph (7) are opened, regulation three-dimensional precise is adjusted
Whole frame (204) carries out the visual field scanning of pitching and orientation respectively, and specific method is：Using hot spot A points as origin, trunnion axis is x
Axle, vertical axes are y-axis, set up plane right-angle coordinate；Make orientation forward migrations of the hot spot A along y-axis, wave recording amplitude and arteries and veins
Width, untill no signal is exported, records and demarcates the location point B1 (0, y when waveform disappears on correspondence diffusing transmission plate (3)B1) and
Location point B2 (0, y during amplitude highest on correspondence diffusing transmission plate (3)B2)；Then offset along the opposite direction of y-axis, record and demarcate
Location point C1 (0, y when waveform disappears on correspondence diffusing transmission plate (3)C1) with amplitude highest when corresponding diffusing transmission plate (3) on position
Put point C2 (0, yC2), skew along the x-axis direction records and demarcates location point D1 when waveform disappears on correspondence diffusing transmission plate (3)
(xD1, 0), location point D2 (x during with amplitude highest on corresponding diffusing transmission plate (3)D2,0)；Then offset along the opposite direction of x-axis,
Record and demarcate location point E1 (x when waveform disappears on correspondence diffusing transmission plate (3)E1, 0), corresponding diffusing transmission during with amplitude highest
Location point E2 (x on plate (3)E2,0)；Compare B2, A, the corresponding vertical seat of the size of C2 points correspondence amplitude, wherein amplitude maximum point
It is designated as ymax；Compare D2, A, the size of E2 points correspondence amplitude, the wherein corresponding abscissa of amplitude maximum point are xmax；Analogue echo
The coordinate of signal focus is (xmax, ymax)；
5) calculating of field range is carried out, x is calculatedD1-xE1, yB1-yC1The respectively horizontally and vertically field range of both direction.
5. according to the methods described of claim 1 or 4, it is characterised in that change analogue echo power, then repeat calculating mould
Intend the relative displacement of echo-signal focus and Laser emission picture point, average as Δ d, calculate Δ θ.
6. according to the methods described of claim 1 or 4, it is characterised in that the laser beam is pulse energy 1uJ, repetition rate 5
~10Hz, pulse width 10ns.
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