CN105629214B - A kind of laser radar azimuth axis and light axis consistency method of adjustment - Google Patents

Abstract

The invention belongs to the technical field of engineering measurement, and in particular relates to a method for adjusting the consistency of a laser radar azimuth axis and an optical axis, aiming at solving the problem of adjusting the consistency of an invisible optical axis and a mechanical axis. The method includes building a stable working platform, establishing a visual adjustment reference, adjusting the consistency of the azimuth mechanical rotation axis and the visual installation reference, adjusting the consistency of the receiving optical axis and the visual installation reference, and adjusting the consistency between the emitting optical axis and the visual adjustment reference. Baseline Consistency Adjustment in five steps. The present invention builds a stable working platform, establishes visual adjustment, adjusts the consistency between the azimuth mechanical rotation axis and the visual adjustment reference, adjusts the consistency between the receiving optical axis and the visual adjustment reference, and adjusts the consistency between the emission optical axis and the visual installation reference The consistency adjustment step realizes that the reference visual adjustment reference is coaxial with the azimuth axis, coaxial with the emission optical axis, and coaxial with the receiving optical axis at the same time, so the azimuth axis is coaxial with the emission optical axis and the receiving optical axis, and it is completed The adjustment of the consistency between the azimuth axis and the optical axis is realized.

Description

A Consistency Adjustment Method of LiDAR Azimuth Axis and Optical Axis

technical field

The invention belongs to the technical field of engineering measurement, and in particular relates to a method for adjusting the consistency of a laser radar azimuth axis and an optical axis.

Background technique

Laser three-dimensional measurement system is widely used in the field of space target relative attitude measurement. In the design and manufacture of the laser three-dimensional measurement system, the consistency adjustment of the azimuth axis of the two-dimensional turntable and the optical axis of the receiving/transmitting optical path is a key part of the entire assembly process. The laser measurement system emits a laser beam through the azimuth axis of the two-dimensional turntable, and is reflected by the mirror on the pitch axis. In space, it is emitted back by the target surface cube mirror for measurement. During the measurement process, the control beam moves with the target to obtain the dynamic motion coordinates of a specific point of the target, so as to realize the relative attitude measurement of the target.

The two-dimensional turntable is widely used as an actuator to control the motion of the beam. In order to obtain the relative three-dimensional coordinates of the space target with high precision, the accuracy and stability of the beam motion control must be guaranteed. The two-dimensional turntable is composed of an azimuth axis and a pitch axis. The azimuth axis is connected to the optical axis of the optical path through a flange. Ideally, the laser beam is transmitted along the azimuth axis and passes through the intersection of the azimuth axis and the pitch axis. During the rotation process, the light beam always coincides with the rotation axis, and is emitted from the center of the intersection of the azimuth axis and the pitch axis. If the beam does not coincide with the rotation axis during this process, the beam pointing will deviate, which will bring errors to the tracking and measurement of the target.

Contents of the invention

The purpose of the present invention is to solve the problem of adjusting the consistency between the invisible optical axis and the mechanical axis, and provide a method for adjusting the consistency between the azimuth axis and the optical axis of the laser radar.

The present invention is achieved like this:

A laser radar azimuth axis and optical axis consistency adjustment method, comprising the following steps:

The first step: build a stable working platform;

Step 2: Establish visual assembly and adjustment benchmarks;

Step 3: Consistency adjustment between the azimuth mechanical rotation axis and the visual adjustment benchmark;

Step 4: Consistency adjustment between the receiving optical axis and the visual adjustment reference;

Step 5: Consistency adjustment between the emission optical axis and the visual adjustment reference.

The steps of building a stable working platform as described above, the stable working platform includes a fixed platform, a bracket, a three-dimensional adjustment platform, a support plate, a mirror and an adjustment tool; wherein, the fixed platform is used to ensure that the device to be installed and adjusted Not affected by external vibration; there are two brackets, both of which are metal columns, with a fixed triangle bracket installed at the bottom, and the two brackets are placed on both sides of the fixed platform; the three-dimensional adjustment pan/tilt is fixed on the top of the bracket for installation and support plate; the support plate is a metal plate, and the support plate is placed on the upper end faces of the two three-dimensional adjustment heads, and a through hole is opened in the middle of the upper end face as the installation hole for the adjustment tool, which is used to install the adjustment tool; the lower part of the adjustment tool is metal Made of cylindrical shape, the upper part is a grooved cuboid with an angle of 45 degrees between the end face and the installation surface. It is fixed on the support plate and installed in the installation hole of the support plate adjustment tool. It is used to install the reflector. The reflector is adjusted to form an included angle of 45 degrees with the horizontal; the reflector is installed in the groove on the upper part of the adjustment tool, and the reflector forms an included angle of 45 degrees with the horizontal, which is used to turn the horizontal reference to the vertical direction.

The above-mentioned fixed platform is realized by using a general-purpose precision optical platform, and the above-mentioned metal is preferably aluminum.

As mentioned above, establish the visual installation and adjustment reference step, use the theodolite to establish the visual installation and adjustment reference, and adjust the reflector to form an angle of 45 degrees with the horizontal.

As mentioned above, the step of establishing a visual adjustment reference, the 45-degree adjustment of the mirror includes the following steps:

(1) Use the electronic level to adjust the fixed platform to the level;

(2) The theodolite is self-leveling, and then the standard hexahedron is placed on the fixed platform;

(3) By adjusting the position of the mirror until the theodolite is self-collimated, the mirror is adjusted to form an angle of 45 degrees with the horizontal.

In the step of adjusting the consistency between the azimuth mechanical rotation axis and the visual adjustment reference, use the azimuth axis to lead out the tooling to visualize the azimuth mechanical rotation axis, and adjust the posture of the azimuth mechanical rotation axis to make the azimuth mechanical rotation axis consistent with the visual installation and adjustment reference.

The steps for adjusting the consistency between the azimuth mechanical rotation axis and the visual adjustment reference as described above specifically include the following steps:

(1) Put the frame of the device to be installed and adjusted on the fixed platform, and then put the standard hexahedron on the upper end surface of the connecting flange above the frame of the device to be installed and adjusted; the above-mentioned frame is equipped with an optical box inside, and a four-quadrant is installed inside the optical box APD detector, lens and laser; the lens is installed in the middle of the optical path box, the four-quadrant APD detector is installed under the lens, and the photosensitive surface of the four-quadrant APD detector is located near the focal point of the lens; the upper end surface is installed above the center of the lens with a 45-degree slope The cylindrical body is coaxial with the lens; the laser beam emitted by the laser is projected onto the 45-degree inclined surface of the cylindrical body above the center of the lens, and the optical path box is emitted through the inclined surface; the laser light entering the optical path box is converged to four quadrants through the lens The photosensitive surface of the APD detector;

(2) By adjusting the posture of the above-mentioned frame, the theodolite can be self-aligned, and the above-mentioned frame is adjusted horizontally and fixed;

(3) Put the azimuth mechanical rotation axis at the connecting flange above the above frame, adjust their relative positions so that the azimuth axis leads out to the reticle 1 and reticle 2 of the tooling and the theodolite sight reticle in one line On a straight line, the azimuth axis is coaxial with the datum axis.

In the step of adjusting the consistency between the receiving optical axis and the visual assembly reference as described above, place the azimuth mechanical rotation axis at the connection flange above the above frame, and adjust the posture of the optical path box to make the reticle fix the reticle of the tooling Board 1, reticle 2 and quadrant APD detector reticle are in a straight line with theodolite sight reticle.

In the step of adjusting the consistency between the receiving optical axis and the visual adjustment reference as mentioned above, adjust the attitude of the laser beam in the optical path box so that the light spot is at the center of the photosensitive surface of the four-quadrant APD detector, so that the emission optical axis is consistent with the visual adjustment Benchmarks are consistent.

The step of adjusting the consistency between the receiving optical axis and the visual adjustment reference as described above specifically includes the following steps:

(1) Install a flat reflector on the end surface of the azimuth mechanical rotation shaft;

(2) the above-mentioned plane reflector is self-collimated and leveled by the theodolite;

(3) put the pyramid reflector between the theodolite and the reflector by the tripod;

(4) By adjusting the position of the cube-shaped mirror, it is observed that the image of the cube-shaped mirror in the plane mirror is at the center of the theodolite sight reticle, that is, the cube-shaped mirror is placed; then, take out the reflector and the theodolite;

(5) The laser light emitted from the light path box is reflected to the reflector by the inclined reflector above the lens, then refracted by the reflector, reflected back by the corner cone mirror, and converged by the lens to the photosensitive surface of the four-quadrant APD; according to the light spot Determine the position of the laser beam on the position of the photosensitive surface; adjust the position of the laser beam so that the light spot is at the center of the photosensitive surface of the detector. At this time, the output position information after processing is zero, and the azimuth axis is coaxial with the emission optical axis. Adjustment.

The beneficial effects of the present invention are:

The invention builds a stable working platform, establishes visual adjustment, adjusts the consistency between the azimuth mechanical rotation axis and the visual adjustment reference, adjusts the consistency between the receiving optical axis and the visual installation reference, and adjusts the consistency between the emission optical axis and the visual installation reference The consistency adjustment step realizes that the reference visual adjustment reference is coaxial with the azimuth axis, coaxial with the emission optical axis, and coaxial with the receiving optical axis at the same time, so the azimuth axis is coaxial with the emission optical axis and the receiving optical axis, and it is completed The adjustment of the consistency between the azimuth axis and the optical axis is realized.

Description of drawings

Fig. 1 is a flow chart of a laser radar azimuth axis and optical axis consistency adjustment method of the present invention;

Fig. 2 is the structural principle diagram of the stable working platform that builds in the stable working platform step among Fig. 1;

Fig. 3 is a schematic diagram of the 45-degree adjustment method of the reflector in the step of establishing a visual assembly and adjustment reference in Fig. 1;

Fig. 4 is a schematic diagram of adjusting the frame posture of the device to be assembled and adjusted in the step of adjusting the consistency between the azimuth mechanical rotation axis and the visual assembly and adjustment reference in Fig. 1;

Fig. 5 is a schematic diagram of adjusting the azimuth mechanical rotation axis in the step of adjusting the consistency between the azimuth mechanical rotation axis and the visual adjustment reference in Fig. 1;

Fig. 6 is a cross-sectional view of the upper part of the azimuth axis lead-out frock in Fig. 5;

Fig. 7 is a schematic diagram of the step of adjusting the consistency between the receiving optical axis and the visual installation and adjustment reference in Fig. 1 to install the mechanical rotation axis of the azimuth;

Fig. 8 is a schematic diagram of the operation of the device in the step of adjusting the consistency between the emission optical axis and the visual adjustment reference in Fig. 1;

FIG. 9 is a schematic diagram of the principle of the step of adjusting the consistency between the emitting optical axis and the visible adjustment reference in FIG. 1 .

detailed description

A method for adjusting the consistency between the azimuth axis and the optical axis of the laser radar according to the present invention is introduced below in conjunction with the accompanying drawings and embodiments:

As shown in Figure 1, a laser radar azimuth axis and optical axis consistency adjustment method includes the following steps:

The first step: build a stable working platform;

Build a stable working platform. In this embodiment, as shown in FIG. 2 , the stable working platform includes a fixed platform, a bracket, a three-dimensional adjustment platform, a support plate, a mirror and an adjustment tool. Wherein, the fixed platform is used to ensure that the device to be installed and adjusted will not be affected by external vibrations during the installation and adjustment process. In this embodiment, a general-purpose precision optical platform is used for realization. There are two brackets, both of which are metal columns, with a fixed triangular bracket installed at the bottom, and the two brackets are placed on both sides of the fixed platform. The three-dimensional adjustment pan/tilt is fixedly installed on the top of the bracket and is used to install the support plate, which is realized by using general products. The support plate is a metal plate, which is placed on the upper end faces of the two three-dimensional adjustment pan-tilts, and has a through hole in the middle of the upper end faces as an adjustment frock mounting hole for installing the adjustment frock. The lower part of the adjustment tool is cylindrical, and the upper part is a grooved cuboid with an angle of 45 degrees between the end face and the installation surface. It is made of metal and fixed on the support plate. It is fixed in the installation hole of the support plate adjustment tool for installing reflectors. , raise the reflector and adjust the reflector to a 45-degree angle with the horizontal. The reflector is installed in the groove on the upper part of the adjustment tool, and the reflector forms an angle of 45 degrees with the horizontal, and is used to turn the horizontal reference to the vertical direction. The aforementioned metal is preferably aluminum.

Step 2: Establish visual assembly and adjustment benchmarks;

Use the theodolite to establish a visual adjustment reference, so that the mirror can be adjusted to an angle of 45 degrees with the horizontal. As shown in Figure 3, the 45-degree adjustment of the mirror includes the following steps:

(1) Use the electronic level to adjust the fixed platform to the level.

(2) The theodolite is self-leveling, and then the standard hexahedron is placed on a fixed platform.

(3) By adjusting the position of the mirror until the theodolite is self-collimated, at this time, the mirror is adjusted to form an angle of 45 degrees with the horizontal, that is, the adjustment is completed.

Step 3: Consistency adjustment between the azimuth mechanical rotation axis and the visual adjustment benchmark;

Use the azimuth axis to lead out the tooling to visualize the azimuth mechanical rotation axis, and adjust the posture of the azimuth mechanical rotation axis to make the azimuth mechanical rotation axis consistent with the visual installation and adjustment reference. Specifically include the following steps:

(1) Put the frame of the device to be installed and adjusted on the fixed platform, and then put the standard hexahedron on the upper end surface of the connecting flange above the frame of the device to be installed and adjusted. An optical path box is installed inside the above frame, and a four-quadrant APD detector, lens and laser are installed inside the optical path box. The lens is installed in the middle of the light path box, the four-quadrant APD detector is installed under the lens, and the photosensitive surface of the four-quadrant APD detector is located near the focal point of the lens. A cylindrical body with a 45-degree inclined plane is installed above the center of the lens, and the cylindrical body is coaxial with the lens. The laser beam emitted by the laser is projected onto the 45-degree slope of the cylinder above the center of the lens, and is emitted out of the optical path box through the slope. The laser light entering the optical path box is converged to the photosensitive surface of the four-quadrant APD detector through the lens.

(2) As shown in Figure 4, the theodolite can be self-aligned by adjusting the posture of the above frame, that is, the above frame is adjusted horizontally and fixed.

(3) Put the azimuth mechanical rotation axis at the connecting flange above the above frame, as shown in Figure 5, adjust their relative positions so that the azimuth axis leads out to the reticle 1 and reticle 2 of the tooling to align with the theodolite The mirror reticle is on a straight line, that is, the azimuth axis is coaxial with the reference axis.

In this embodiment, the azimuth shaft lead-out tooling is a hollow revolving body with a narrow top and a wide bottom. As shown in Figure 6, there are threads on the outside of the lower part, and the lower part is fixed to the threaded hole at the top of the azimuth mechanical rotation shaft. Two reticles are installed, and the vertical distance between the two reticles 1 and 2 is adjustable, generally not less than 2/3 of the height of the upper part. The azimuth axis lead-out tooling is made of aluminum.

Step 4: Consistency adjustment between the receiving optical axis and the visual adjustment reference;

As shown in Figure 7, put the azimuth mechanical rotation axis at the connection flange above the above frame, adjust the posture of the optical path box to make the reticle 1, reticle 2 and four-quadrant APD detection of the reticle fixing tool The reticle of the reticle of the reticle and the theodolite sight are on a straight line, that is, the receiving optical axis is consistent with the reference axis.

Step 5: Consistency adjustment between the emission optical axis and the visual adjustment benchmark;

Adjust the attitude of the laser beam in the optical box so that the light spot is at the center of the photosensitive surface of the four-quadrant APD detector, so that the emission optical axis is consistent with the visual adjustment reference.

In this embodiment, specifically include the following steps:

(1) Install a flat reflector on the end surface of the azimuth mechanical rotation shaft, as shown in Figure 8.

(2) Self-collimate the above-mentioned plane reflector through the theodolite.

(3) Put the pyramid reflector between the theodolite and the reflector through the tripod.

(4) By adjusting the position of the cube-shaped mirror, it is observed that the image of the cube-shaped mirror in the plane mirror is at the center of the reticle of the theodolite sight, that is, the placement of the cube-shaped mirror is completed. Then, take out the reflector and theodolite.

(5) As shown in Figure 9, the laser light emitted from the optical path box is reflected to the reflector by the inclined reflector above the lens, then refracted by the reflector, reflected back by the corner cone mirror, and converged to the four-quadrant APD by the lens photosensitive side. The position of the laser beam is judged according to the position of the light spot on the photosensitive surface. Adjust the position of the laser beam so that the light spot is at the center of the photosensitive surface of the detector. At this time, the output position information after processing is zero. At this point, the consistency adjustment between the emitted light axis and the visible adjustment reference is completed, that is, the adjustment of the azimuth axis and the emitted light axis being coaxial.

The invention builds a stable working platform, establishes visual adjustment, adjusts the consistency between the azimuth mechanical rotation axis and the visual adjustment reference, adjusts the consistency between the receiving optical axis and the visual installation reference, and adjusts the consistency between the emission optical axis and the visual installation reference The consistency adjustment step realizes that the reference visual adjustment reference is coaxial with the azimuth axis, coaxial with the emission optical axis, and coaxial with the receiving optical axis at the same time, so the azimuth axis is coaxial with the emission optical axis and the receiving optical axis, and it is completed The adjustment of the consistency between the azimuth axis and the optical axis is realized.

Claims (9)

1. A laser radar azimuth axis and optical axis consistency adjustment method, comprising the steps: The first step: build a stable working platform; Step 2: Establish visual assembly and adjustment benchmarks; Step 3: Consistency adjustment between the azimuth mechanical rotation axis and the visual adjustment benchmark; Step 4: Consistency adjustment between the receiving optical axis and the visual adjustment reference; Step 5: Consistency adjustment between the emission optical axis and the visual adjustment reference. 2. a kind of lidar azimuth axis and optical axis consistency adjustment method according to claim 1, it is characterized in that: the described step of setting up a stable working platform, the stable working platform comprises a fixed platform, a bracket, a three-dimensional adjustment pan-tilt, Support plate, reflector and adjustment tooling; Among them, the fixed platform is used to ensure that the device to be installed and adjusted is not affected by external vibration during the installation and adjustment process; there are two brackets, both of which are metal columns, and a fixed triangular bracket is installed at the bottom , the two brackets are respectively placed on both sides of the fixed platform; the three-dimensional adjustment pan/tilt is fixedly installed on the top of the bracket for installing the support plate; the support plate is a metal plate, and the support plate is placed on the upper surface of the two three-dimensional adjustment pan/tilt, There is a through hole in the middle of the upper end surface as the installation hole for the adjustment tool, which is used to install the adjustment tool; the lower part of the adjustment tool is a metal cylinder, and the upper part is a rectangular parallelepiped with a groove at an angle of 45 degrees from the end surface to the installation surface, installed on the support The plate is fixedly installed in the mounting hole of the adjustment tooling of the support plate, which is used to install the reflector. The reflector frame is raised and the reflector is adjusted to an angle of 45 degrees with the horizontal; the reflector is installed in the groove on the upper part of the adjustment tool. The mirror forms an included angle of 45 degrees with the horizontal, and is used to turn the horizontal reference to the vertical direction. 3. A method for adjusting the consistency between the azimuth axis and the optical axis of the laser radar according to claim 2, characterized in that: the fixed platform is realized by a general-purpose precision optical platform, and the above-mentioned metal is preferably aluminum. 4. A method for adjusting the consistency of the laser radar azimuth axis and optical axis according to claim 1, characterized in that: in the step of establishing a visual installation and adjustment reference, a theodolite is used to establish a visual installation and adjustment reference, so that the reflector Adjust to an angle of 45 degrees with the horizontal. 5. A method for adjusting the consistency between the azimuth axis and the optical axis of the laser radar according to claim 4, characterized in that: the step of establishing a visual assembly and adjustment reference step, the 45-degree adjustment of the mirror includes the following steps: (1) Use the electronic level to adjust the fixed platform to the level; (2) The theodolite is self-leveling, and then the standard hexahedron is placed on the fixed platform; (3) By adjusting the position of the mirror until the theodolite is self-collimated, the mirror is adjusted to form an angle of 45 degrees with the horizontal. 6. A laser radar azimuth axis and optical axis consistency adjustment method according to claim 1, characterized in that: in the step of adjusting the consistency between the azimuth mechanical rotation axis and the visual assembly reference, the azimuth axis is used to lead out the tooling The azimuth mechanical rotation axis is visualized, and the attitude of the azimuth mechanical rotation axis is adjusted so that the azimuth mechanical rotation axis is consistent with the visual adjustment reference. 7. A laser radar azimuth axis and optical axis consistency adjustment method according to claim 6, characterized in that: the step of adjusting the consistency of the azimuth mechanical rotation axis and the visual installation and adjustment reference specifically includes the following steps: (1) Put the frame of the device to be installed and adjusted on the fixed platform, and then put the standard hexahedron on the upper end face of the connecting flange above the frame of the device to be installed and adjusted; the above-mentioned frame is equipped with an optical box inside, and a four-quadrant is installed inside the optical box APD detector, lens and laser; the lens is installed in the middle of the optical path box, the four-quadrant APD detector is installed under the lens, and the photosensitive surface of the four-quadrant APD detector is located near the focal point of the lens; the upper end surface is installed above the center of the lens with a 45-degree slope The cylindrical body is coaxial with the lens; the laser beam emitted by the laser is projected onto the 45-degree inclined surface of the cylindrical body above the center of the lens, and the optical path box is emitted through the inclined surface; the laser light entering the optical path box is converged to four quadrants through the lens The photosensitive surface of the APD detector; (2) By adjusting the posture of the above-mentioned frame, the theodolite can be self-aligned, and the above-mentioned frame is adjusted horizontally and fixed; (3) Put the azimuth mechanical rotation axis at the connecting flange above the above frame, adjust their relative positions so that the azimuth axis leads out to the reticle 1 and reticle 2 of the tooling and the theodolite sight reticle in one line On a straight line, the azimuth axis is coaxial with the datum axis. 8. A laser radar azimuth axis and optical axis consistency adjustment method according to claim 7, characterized in that: in the step of adjusting the consistency between the receiving optical axis and the visual assembly reference, the azimuth mechanical rotation axis is placed To the connecting flange above the above frame, adjust the attitude of the optical path box so that the azimuth axis leads out to the reticle 1, reticle 2 and four-quadrant APD detector reticle and the theodolite sight reticle in one line in a straight line. 9. A laser radar azimuth axis and optical axis consistency adjustment method according to claim 1, characterized in that: the step of adjusting the consistency of the receiving optical axis and the visual assembly reference is to adjust the laser beam in the optical path box The posture is such that the light spot is at the center of the photosensitive surface of the four-quadrant APD detector, and the receiving optical axis is consistent with the visual adjustment reference.