CN105629214A - Adjusting method for consistency between laser radar azimuth axis and optical axis - Google Patents
Adjusting method for consistency between laser radar azimuth axis and optical axis Download PDFInfo
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- CN105629214A CN105629214A CN201410591672.4A CN201410591672A CN105629214A CN 105629214 A CN105629214 A CN 105629214A CN 201410591672 A CN201410591672 A CN 201410591672A CN 105629214 A CN105629214 A CN 105629214A
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Abstract
The invention belongs to the field of engineering measurement technology, and particularly to an adjusting method for consistency between a laser radar azimuth axis and an optical axis. The adjusting method aims to settle a problem of consistency adjustment between an invisible optical axis and a mechanical axis. The adjusting method comprises five steps, namely building a stable working platform, establishing a visible mounting and adjusting reference, performing consistency adjustment on an azimuth mechanical rotating axis and the visible mounting and adjusting reference, performing consistency adjustment between a receiving optical axis and the visible mounting and adjusting reference, and performing consistency adjustment between a transmitting optical axis and the visible mounting and adjusting reference. According to the adjusting method, through the steps of building the stable working platform, establishing the visible mounting and adjusting reference, performing consistency adjustment on the azimuth mechanical rotating axis and the visible mounting and adjusting reference, performing consistency adjustment between the receiving optical axis and the visible mounting and adjusting reference, and performing consistency adjustment between the transmitting optical axis and the visible mounting and adjusting reference, coaxiality between the visible mounting and adjusting reference and the azimuth axis is realized; and furthermore the visible mounting and adjusting reference is coaxial with the transmitting optical axis and the receiving optical axis. Therefore the azimuth axis is coaxial with the transmitting optical axis and the receiving optical axis, namely consistency adjustment between the azimuth axis and the optical axis is finished.
Description
Technical field
The invention belongs to engineering measuring technology field, be specifically related to a kind of laser radar azimuth axis and light axis consistency method of adjustment.
Background technology
3-d laser measurement system is widely used in extraterrestrial target relative attitude fields of measurement. In the design of 3-d laser measurement system with manufacture, dimensional turntable azimuth axis and reception/transmission light path light axis consistency adjustment are the whole key components debug in process. Laser measurement system is launched one laser beam by dimensional turntable azimuth axis by laser instrument, reflects away through pitch axis upper reflector. In space, target surface pyramid mirror firing back measurement, in the process measured, control light beam moves together along with target, it is thus achieved that the dynamic motion coordinate of target specified point, measures thus realizing target relative attitude.
Dimensional turntable is controlled the actuator of beam motion by being used as widely, in order to obtain high-precision extraterrestrial target relative dimensional coordinate, it is necessary to assure the accuracy of beam motion control and stability. Dimensional turntable is made up of azimuth axis and pitch axis, azimuth axis is connected with light path light axis by flange, ideally laser beam upwards transmits along azimuth axis, and by the intersection point of azimuth axis with pitch axis, in the rotation process of azimuth axis, light beam overlaps with rotating shaft all the time, to emission centered by azimuth axis with pitch axis intersection point. If light beam is misaligned with rotating shaft in the process, will there is deviation in beam-pointing, tracking and measurement to target bring error.
Summary of the invention
The problem that present invention aim to address invisible optical axis and mechanical axis consistency adjustment, it is provided that a kind of laser radar azimuth axis and light axis consistency method of adjustment.
The present invention is achieved in that
A kind of laser radar azimuth axis and light axis consistency method of adjustment, comprise the steps:
The first step: build stabilized platform;
Second step: set up and visually debug benchmark;
3rd step: orientation mechanical rotation axle with visually debug reference consistency adjustment;
4th step: receive optical axis and visually debug reference consistency adjustment;
5th step: launch optical axis and visually debug reference consistency adjustment.
Building stabilized platform step as above, stabilized platform includes fixed platform, support, three-dimensional adjustment The Cloud Terrace, gripper shoe, reflecting mirror and adjustment frock; Wherein, fixed platform is for guaranteeing to treat the impact that debugging device is not subject to extraneous vibration in the process debug; Support has two, is metal column, and bottom is provided with fixed triangle support, and two supports are individually positioned in fixed platform both sides; The three-dimensional The Cloud Terrace that adjusts is fixedly mounted on cradle top, is used for installing gripper shoe; Gripper shoe is metal making sheet shape, and gripper shoe is placed on two three-dimensional upper surfaces adjusting The Cloud Terrace, and Middle face has through hole as adjusting frock installing hole at its upper end, for mounting and adjusting frock; Adjusting frock bottom is metal rounding tubular, top is become 45 degree of angle groove cuboids for opening by end face with installed surface, the gripper shoe that is fixedly mounted on being contained in gripper shoe adjusts in frock installing hole, is used for installing reflecting mirror, by high for reflector mount and by reflector alignment to level in angle of 45 degrees; Reflecting mirror is arranged in the groove adjusting frock top, and with level in angle of 45 degrees, be used for turning back horizontal reference reflecting mirror vertical direction.
Fixed platform as above adopts versatile smart optical table to realize, and described above-mentioned metal is preferably aluminum.
Calibration step is visually debug in foundation as above, utilizes theodolite to set up and visually debugs benchmark, makes reflector alignment to level in angle of 45 degrees.
Calibration step is visually debug in foundation as above, and 45 degree of adjustment of reflecting mirror comprise the steps:
(1) electrolevel is utilized fixed platform to be adjusted to level;
(2) theodolite carries out from horizontal adjustment, is then put in fixed platform by standard hexahedron;
(3) by the position of adjustment reflecting mirror until theodolite auto-collimation, reflector alignment is to level in angle of 45 degrees.
Orientation as above mechanical rotation axle with visually debug reference consistency set-up procedure, use azimuth axis to draw frock and make orientation mechanical rotation axle visualization, adjust orientation mechanical rotation axle attitude and make orientation mechanical rotation axle with visually to debug benchmark consistent.
Orientation as above mechanical rotation axle with visually debug reference consistency set-up procedure, specifically include following steps:
(1) framework treating debugging device is put in fixed platform, then standard hexahedron is put into the adpting flange upper surface above device frame to be debug; Said frame is internally installed light path case, and light path case is internally installed four-quadrant APD detector, lens and laser instrument; Lens are arranged in the middle part of light path case, and four-quadrant APD detector is arranged on below lens, and the photosurface of four-quadrant APD detector is positioned at the near focal point of lens; Lens centre is arranged above the column that upper surface is 45 degree of inclined-planes, and this column is coaxial with lens; The laser beam projects that laser instrument sends, to 45 degree of inclined-planes of the column above lens centre, launches light path case through this inclined-plane; Enter the laser of light path case on the photosurface that lens converge to four-quadrant APD detector;
(2) by regulating the attitude of said frame so that theodolite can auto-collimation, said frame adjusts level, and fixes;
(3) orientation mechanical rotation axle is put into said frame above adpting flange place, making azimuth axis draw the graticle one of frock, graticle two with theodolite gun sight graticle point-blank by adjusting their relative position, azimuth axis is coaxial with reference axis.
Receive optical axis as above and visually debug reference consistency set-up procedure, orientation mechanical rotation axle is put into said frame above adpting flange place, make the graticle one of graticle fixing tool, graticle two and four-quadrant APD detector cross hairs and theodolite gun sight graticle point-blank by adjusting the attitude of light path case.
As above receive optical axis and visually debug reference consistency set-up procedure, adjusting the attitude of laser beam in light path case so that hot spot, in the center of four-quadrant APD detector photosurface, makes transmitting optical axis with visually to debug benchmark consistent.
Receive optical axis as above and visually debug reference consistency set-up procedure, specifically including following steps:
(1) plane mirror is installed to mechanical rotation axle upper surface, orientation;
(2) by above-mentioned plane mirror by theodolite auto-collimation level-off;
(3) corner cube reflector is put between theodolite and reflecting mirror by spider;
(4) making to observe that pyramid mirror picture in plane mirror is at the center of theodolite gun sight graticle by the position of adjustment pyramid mirror, namely pyramid mirror has been put; Subsequently, reflecting mirror and theodolite are taken out;
(5) laser sent in light path case reflexes to reflecting mirror by the slant reflection mirror above lens, then is turned back outgoing by reflecting mirror, reflects through pyramid mirror, lens converges on four-quadrant APD photosurface; According to hot spot position judgment laser beam position on photosurface; Adjust the position of laser beam so that hot spot is in the center of detector photosurface, and the positional information now exported after treatment is zero, complete azimuth axis and the adjustment launching light shaft coaxle.
The invention has the beneficial effects as follows:
The present invention by building stabilized platform, set up visually debug, orientation mechanical rotation axle with visually debug reference consistency adjustment, receive optical axis and visually debug reference consistency adjustment and launch optical axis and visually debug reference consistency set-up procedure, achieving benchmark, visually to debug benchmark coaxial with azimuth axis, with transmitting light shaft coaxle, simultaneously with reception light shaft coaxle, therefore azimuth axis and transmitting optical axis, reception light shaft coaxle, namely complete the adjustment of azimuth axis and light axis consistency.
Accompanying drawing explanation
Fig. 1 is a kind of laser radar azimuth axis flow chart with light axis consistency method of adjustment of the present invention;
Fig. 2 is the structure principle chart building the stabilized platform built in stabilized platform step in Fig. 1;
Fig. 3 sets up in Fig. 1 visually to debug the schematic diagram of 45 degree of methods of adjustment of reflecting mirror in calibration step;
Fig. 4 be in Fig. 1 orientation mechanical rotation axle with visually debug the schematic diagram regulating device frame attitude to be debug in reference consistency set-up procedure;
Fig. 5 be in Fig. 1 orientation mechanical rotation axle with visually debug the schematic diagram adjusting orientation mechanical rotation axle in reference consistency set-up procedure;
Fig. 6 is the sectional view that in Fig. 5, azimuth axis draws frock top;
Fig. 7 receives optical axis and the schematic diagram visually debuging reference consistency set-up procedure installation position mechanical rotation axle in Fig. 1;
Fig. 8 launches optical axis and the device operation chart visually debuging reference consistency set-up procedure in Fig. 1;
Fig. 9 launches optical axis and the principle schematic visually debuging reference consistency set-up procedure in Fig. 1.
Detailed description of the invention
Below in conjunction with drawings and Examples, a kind of laser radar azimuth axis of the present invention is introduced with light axis consistency method of adjustment:
As it is shown in figure 1, a kind of laser radar azimuth axis and light axis consistency method of adjustment, comprise the steps:
The first step: build stabilized platform;
Build stabilized platform. In the present embodiment, as in figure 2 it is shown, stabilized platform includes fixed platform, support, three-dimensional adjustment The Cloud Terrace, gripper shoe, reflecting mirror and adjustment frock. Wherein, fixed platform, for guaranteeing to treat the impact that debugging device is not subject to extraneous vibration in the process debug, in the present embodiment, adopts versatile smart optical table to realize. Support has two, is metal column, and bottom is provided with fixed triangle support, and two supports are individually positioned in fixed platform both sides. The three-dimensional The Cloud Terrace that adjusts is fixedly mounted on cradle top, is used for installing gripper shoe, and it adopts the universal product to realize. Gripper shoe is metal making sheet shape, and it is placed on two three-dimensional upper surfaces adjusting The Cloud Terrace, and Middle face has through hole as adjusting frock installing hole at its upper end, for mounting and adjusting frock. It is cylindric for adjusting frock bottom, top is become 45 degree angle groove cuboids by end face with installed surface for opening, and is made of metal, and the gripper shoe that is fixedly mounted on being contained in gripper shoe adjusts in frock installing hole, for installing reflecting mirror, by high for reflector mount and by reflector alignment to level in angle of 45 degrees. Reflecting mirror is arranged in the groove adjusting frock top, and with level in angle of 45 degrees, be used for turning back horizontal reference reflecting mirror vertical direction. Above-mentioned metal is preferably aluminum.
Second step: set up and visually debug benchmark;
Utilize theodolite to set up and visually debug benchmark, make reflector alignment to level in angle of 45 degrees. As it is shown on figure 3,45 degree of adjustment of reflecting mirror comprise the steps:
(1) electrolevel is utilized to adjust fixed platform to level.
(2) theodolite carries out from horizontal adjustment, is then put in fixed platform by standard hexahedron.
(3) by the position of adjustment reflecting mirror until theodolite auto-collimation, now, reflector alignment, to level in angle of 45 degrees, has namely adjusted.
3rd step: orientation mechanical rotation axle with visually debug reference consistency adjustment;
Use azimuth axis to draw frock and makes the visualization of orientation mechanical rotation axle, adjust orientation mechanical rotation axle attitude and make orientation mechanical rotation axle with visually to debug benchmark consistent. Specifically include following steps:
(1) framework treating debugging device is put in fixed platform, then standard hexahedron is put into the adpting flange upper surface above device frame to be debug. Said frame is internally installed light path case, and light path case is internally installed four-quadrant APD detector, lens and laser instrument. Lens are arranged in the middle part of light path case, and four-quadrant APD detector is arranged on below lens, and the photosurface of four-quadrant APD detector is positioned at the near focal point of lens. Lens centre is arranged above the column that upper surface is 45 degree of inclined-planes, and this column is coaxial with lens. The laser beam projects that laser instrument sends, to 45 degree of inclined-planes of the column above lens centre, launches light path case through this inclined-plane. Enter the laser of light path case on the photosurface that lens converge to four-quadrant APD detector.
(2) as shown in Figure 4, by regulating the attitude of said frame so that theodolite can auto-collimation, namely said frame adjusts level, and fixes.
(3) orientation mechanical rotation axle is put into said frame above adpting flange place, as shown in Figure 5, making azimuth axis draw the graticle one of frock, graticle two with theodolite gun sight graticle point-blank by adjusting their relative position, namely azimuth axis is coaxial with reference axis.
In the present embodiment, azimuth axis draws the revolving body that frock is up-narrow and down-wide hollow, as shown in Figure 6, screw thread is had at lower external, the screwed hole on bottom and mechanical rotation axle top, orientation fixedly mounts, inner side is equipped with two pieces of graticles at an upper portion thereof, and the vertical dimension between two pieces of graticles one, 2 is adjustable, is typically no less than the 2/3 of upper height. Azimuth axis extraction frock is adopted and is formed from aluminium.
4th step: receive optical axis and visually debug reference consistency adjustment;
As shown in Figure 7, orientation mechanical rotation axle is put into said frame above adpting flange place, make the graticle one of graticle fixing tool, graticle two and four-quadrant APD detector cross hairs with theodolite gun sight graticle point-blank by adjusting the attitude of light path case, namely receive optical axis consistent with reference axis.
5th step: launch optical axis and visually debug reference consistency adjustment;
Adjust the attitude of laser beam in light path case so that hot spot, in the center of four-quadrant APD detector photosurface, makes transmitting optical axis with visually to debug benchmark consistent.
In the present embodiment, following steps are specifically included:
(1) plane mirror is installed to mechanical rotation axle upper surface, orientation, as shown in Figure 8.
(2) by above-mentioned plane mirror by theodolite auto-collimation level-off.
(3) corner cube reflector is put between theodolite and reflecting mirror by spider.
(4) making to observe that pyramid mirror picture in plane mirror is at the center of theodolite gun sight graticle by the position of adjustment pyramid mirror, namely pyramid mirror has been put. Subsequently, reflecting mirror and theodolite are taken out.
(5) as it is shown in figure 9, the laser sent in light path case reflexes to reflecting mirror by the slant reflection mirror above lens, then turned back outgoing by reflecting mirror, reflect through pyramid mirror, lens converge on four-quadrant APD photosurface. According to hot spot position judgment laser beam position on photosurface. Adjust the position of laser beam so that hot spot is in the center of detector photosurface, and the positional information now exported after treatment is zero. Now complete launch optical axis and visually debug reference consistency adjustment, i.e. azimuth axis and the adjustment launching light shaft coaxle.
The present invention by building stabilized platform, set up visually debug, orientation mechanical rotation axle with visually debug reference consistency adjustment, receive optical axis and visually debug reference consistency adjustment and launch optical axis and visually debug reference consistency set-up procedure, achieving benchmark, visually to debug benchmark coaxial with azimuth axis, with transmitting light shaft coaxle, simultaneously with reception light shaft coaxle, therefore azimuth axis and transmitting optical axis, reception light shaft coaxle, namely complete the adjustment of azimuth axis and light axis consistency.
Claims (10)
1. laser radar azimuth axis and a light axis consistency method of adjustment, comprise the steps:
The first step: build stabilized platform;
Second step: set up and visually debug benchmark;
3rd step: orientation mechanical rotation axle with visually debug reference consistency adjustment;
4th step: receive optical axis and visually debug reference consistency adjustment;
5th step: launch optical axis and visually debug reference consistency adjustment.
2. a kind of laser radar azimuth axis according to claim 1 and light axis consistency method of adjustment, it is characterized in that: described builds stabilized platform step, stabilized platform includes fixed platform, support, three-dimensional adjustment The Cloud Terrace, gripper shoe, reflecting mirror and adjustment frock; Wherein, fixed platform is for guaranteeing to treat the impact that debugging device is not subject to extraneous vibration in the process debug; Support has two, is metal column, and bottom is provided with fixed triangle support, and two supports are individually positioned in fixed platform both sides; The three-dimensional The Cloud Terrace that adjusts is fixedly mounted on cradle top, is used for installing gripper shoe; Gripper shoe is metal making sheet shape, and gripper shoe is placed on two three-dimensional upper surfaces adjusting The Cloud Terrace, and Middle face has through hole as adjusting frock installing hole at its upper end, for mounting and adjusting frock; Adjusting frock bottom is metal rounding tubular, top is become 45 degree of angle groove cuboids for opening by end face with installed surface, the gripper shoe that is fixedly mounted on being contained in gripper shoe adjusts in frock installing hole, is used for installing reflecting mirror, by high for reflector mount and by reflector alignment to level in angle of 45 degrees; Reflecting mirror is arranged in the groove adjusting frock top, and with level in angle of 45 degrees, be used for turning back horizontal reference reflecting mirror vertical direction.
3. a kind of laser radar azimuth axis according to claim 2 and light axis consistency method of adjustment, it is characterised in that: described fixed platform adopts versatile smart optical table to realize, and described above-mentioned metal is preferably aluminum.
4. a kind of laser radar azimuth axis according to claim 1 and light axis consistency method of adjustment, it is characterised in that: calibration step is visually debug in described foundation, utilizes theodolite to set up and visually debugs benchmark, makes reflector alignment to level in angle of 45 degrees.
5. a kind of laser radar azimuth axis according to claim 1 and light axis consistency method of adjustment, it is characterised in that: calibration step is visually debug in described foundation, and 45 degree of adjustment of reflecting mirror comprise the steps:
(1) electrolevel is utilized fixed platform to be adjusted to level;
(2) theodolite carries out from horizontal adjustment, is then put in fixed platform by standard hexahedron;
(3) by the position of adjustment reflecting mirror until theodolite auto-collimation, reflector alignment is to level in angle of 45 degrees.
6. a kind of laser radar azimuth axis according to claim 1 and light axis consistency method of adjustment, it is characterized in that: described orientation mechanical rotation axle with visually debug reference consistency set-up procedure, use azimuth axis to draw frock and makes the visualization of orientation mechanical rotation axle, adjust orientation mechanical rotation axle attitude and make orientation mechanical rotation axle with visually to debug benchmark consistent.
7. a kind of laser radar azimuth axis according to claim 6 and light axis consistency method of adjustment, it is characterised in that: described orientation mechanical rotation axle with visually debug reference consistency set-up procedure, specifically include following steps:
(1) framework treating debugging device is put in fixed platform, then standard hexahedron is put into the adpting flange upper surface above device frame to be debug; Said frame is internally installed light path case, and light path case is internally installed four-quadrant APD detector, lens and laser instrument; Lens are arranged in the middle part of light path case, and four-quadrant APD detector is arranged on below lens, and the photosurface of four-quadrant APD detector is positioned at the near focal point of lens; Lens centre is arranged above the column that upper surface is 45 degree of inclined-planes, and this column is coaxial with lens; The laser beam projects that laser instrument sends, to 45 degree of inclined-planes of the column above lens centre, launches light path case through this inclined-plane; Enter the laser of light path case on the photosurface that lens converge to four-quadrant APD detector;
(2) by regulating the attitude of said frame so that theodolite can auto-collimation, said frame adjusts level, and fixes;
(3) orientation mechanical rotation axle is put into said frame above adpting flange place, making azimuth axis draw the graticle one of frock, graticle two with theodolite gun sight graticle point-blank by adjusting their relative position, azimuth axis is coaxial with reference axis.
8. a kind of laser radar azimuth axis according to claim 1 and light axis consistency method of adjustment, it is characterized in that: described reception optical axis with visually debug reference consistency set-up procedure, orientation mechanical rotation axle is put into said frame above adpting flange place, make the graticle one of graticle fixing tool, graticle two and four-quadrant APD detector cross hairs and theodolite gun sight graticle point-blank by adjusting the attitude of light path case.
9. a kind of laser radar azimuth axis according to claim 1 and light axis consistency method of adjustment, it is characterized in that: described reception optical axis with visually debug reference consistency set-up procedure, adjust the attitude of laser beam in light path case, make hot spot in the center of four-quadrant APD detector photosurface, make transmitting optical axis with visually to debug benchmark consistent.
10. a kind of laser radar azimuth axis according to claim 9 and light axis consistency method of adjustment, it is characterised in that: described reception optical axis with visually debug reference consistency set-up procedure, specifically include following steps:
(1) plane mirror is installed to mechanical rotation axle upper surface, orientation;
(2) by above-mentioned plane mirror by theodolite auto-collimation level-off;
(3) corner cube reflector is put between theodolite and reflecting mirror by spider;
(4) making to observe that pyramid mirror picture in plane mirror is at the center of theodolite gun sight graticle by the position of adjustment pyramid mirror, namely pyramid mirror has been put; Subsequently, reflecting mirror and theodolite are taken out;
(5) laser sent in light path case reflexes to reflecting mirror by the slant reflection mirror above lens, then is turned back outgoing by reflecting mirror, reflects through pyramid mirror, lens converges on four-quadrant APD photosurface; According to hot spot position judgment laser beam position on photosurface; Adjust the position of laser beam so that hot spot is in the center of detector photosurface, and the positional information now exported after treatment is zero, complete azimuth axis and the adjustment launching light shaft coaxle.
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| CN109489692A (en) * | 2018-12-11 | 2019-03-19 | 河北汉光重工有限责任公司 | A kind of semi-active laser guided target seeker zero-bit method of adjustment |
| CN110954084A (en) * | 2019-11-04 | 2020-04-03 | 中国科学院西安光学精密机械研究所 | Device and method for measuring attitude of movable lens group |
| CN111323887A (en) * | 2020-03-23 | 2020-06-23 | 中国科学院长春光学精密机械与物理研究所 | Method for assembling and adjusting light path turning reflector of periscopic tracking mechanism |
| CN112505664A (en) * | 2020-11-27 | 2021-03-16 | 北京航天计量测试技术研究所 | Laser radar light path adjusting method |
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| CN112505664A (en) * | 2020-11-27 | 2021-03-16 | 北京航天计量测试技术研究所 | Laser radar light path adjusting method |
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Inventor after: Miao Yinxiao Inventor after: Liu Ke Inventor after: Liang Yajun Inventor after: Dong Lijun Inventor after: Guo Lei Inventor after: Gao Yue Inventor before: Dong Lijun Inventor before: Liu Ke Inventor before: Liang Yajun Inventor before: Miao Yinxiao Inventor before: Guo Lei Inventor before: Gao Yue |