CN105629214B - A kind of laser radar azimuth axis and light axis consistency method of adjustment - Google Patents
A kind of laser radar azimuth axis and light axis consistency method of adjustment Download PDFInfo
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Abstract
The invention belongs to engineering measuring technology field, and in particular to a kind of laser radar azimuth axis and light axis consistency method of adjustment, it is therefore an objective to solve the problems, such as invisible optical axis and mechanical axis consistency adjustment.This method includes building stabilized platform, establishes visual adjustment benchmark, orientation mechanical rotation axle and the adjustment of visual adjustment reference consistency, reception optical axis and the adjustment of visual adjustment reference consistency and transmitting optical axis and visual adjustment reference consistency five steps of adjustment.The present invention by build stabilized platform, establish visual adjustment, orientation mechanical rotation axle and visual adjustment reference consistency adjust, receive optical axis is adjusted with visual adjustment reference consistency and launch optical axis and visual adjustment reference consistency set-up procedure, realize the visual adjustment benchmark of benchmark and azimuth axis is coaxial, with launching light shaft coaxle, simultaneously with receiving light shaft coaxle, therefore azimuth axis and transmitting optical axis, reception light shaft coaxle, that is, complete the adjustment of azimuth axis and light axis consistency.
Description
Technical field
The invention belongs to engineering measuring technology field, and in particular to a kind of laser radar azimuth axis adjusts with light axis consistency
Method.
Background technology
3-d laser measurement system is widely used in extraterrestrial target relative attitude fields of measurement.In 3-d laser measurement system
System design with manufacture, during dimensional turntable azimuth axis and reception/transmission light path light axis consistency adjustment are whole adjustment
Key component.Laser measurement system launches one laser beam by dimensional turntable azimuth axis by laser, through being reflected on pitch axis
Mirror reflects away.In space, fired back and measured by target surface pyramid mirror, during measurement, control light beam
As target is moved together, the dynamic motion coordinate of target specified point is obtained, so as to realize that target relative attitude measures.
Dimensional turntable is widely used as the executing agency of control beam motion, in order to obtain high-precision extraterrestrial target phase
To three-dimensional coordinate, it is necessary to assure the accuracy and stability of beam motion control.Dimensional turntable is made up of azimuth axis and pitch axis,
Azimuth axis is connected by flange with light path light axis, it is also desirable to which laser beam transmits upwards along azimuth axis, and passes through orientation
The intersection point of axle and pitch axis, light beam is handed over all the time with rotating overlapping of axles with azimuth axis and pitch axis in the rotation process of azimuth axis
Outwards launch centered on point.If light beam and rotary shaft are misaligned in the process, light beam, which points to, will occur deviation, to target
Tracking and measurement bring error.
The content of the invention
Present invention aim to address the problem of invisible optical axis and mechanical axis consistency adjustment, there is provided a kind of laser radar
Azimuth axis and light axis consistency method of adjustment.
What the present invention was realized in：
A kind of laser radar azimuth axis and light axis consistency method of adjustment, comprise the following steps：
The first step：Build stabilized platform；
Second step：Establish visual adjustment benchmark；
3rd step：Orientation mechanical rotation axle adjusts with visual adjustment reference consistency；
4th step：Optical axis is received to adjust with visual adjustment reference consistency；
5th step：Launch optical axis to adjust with visual adjustment reference consistency.
As described above to build stabilized platform step, stabilized platform includes fixed platform, support, three-dimensional adjustment
Head, supporting plate, speculum and adjustment frock；Wherein, fixed platform is used to ensure to treat debugging device during adjustment not
Influenceed by extraneous vibration；Support shares two, is metal column, and bottom is provided with fixed triangle support, two supports
It is individually positioned in fixed platform both sides；Three-dimensional adjustment head is fixedly mounted on cradle top, for installing supporting plate；Supporting plate is
Metal making sheet shape, supporting plate are placed on the upper surface of two three-dimensional adjustment heads, through hole are provided with the middle part of its upper surface as tune
Whole frock mounting hole, for mounting and adjusting frock；Adjustment frock bottom is metal rounding tubular, and top is to drive by end face and installation
Face is anti-for installing mounted in being fixedly mounted in supporting plate adjustment frock mounting hole for supporting plate into 45 degree of angle groove cuboids
Penetrate mirror, by reflector mount it is high and by reflector alignment to straight at 45 degree of angles；Speculum is arranged on adjustment frock top
In groove, speculum is straight at 45 degree of angles, for horizontal reference to be turned back to vertical direction.
Fixed platform as described above realizes that described above-mentioned metal is preferably aluminium using versatile smart optical table.
Visual adjustment calibration step is established as described above, is established visual adjustment benchmark using theodolite, is adjusted speculum
It is whole to straight at 45 degree of angles.
Visual adjustment calibration step is established as described above, and 45 degree of adjustment of speculum comprise the following steps：
(1) fixed platform is adjusted to level using electrolevel；
(2) theodolite is carried out from Level tune, and then standard hexahedron is put into fixed platform；
(3) by adjusting the position of speculum until theodolite auto-collimation, reflector alignment is to straight at 45 degree of angles.
Orientation mechanical rotation axle as described above and visual adjustment reference consistency set-up procedure, work is drawn using azimuth axis
Dress makes orientation mechanical rotation axle visualization, and adjustment orientation mechanical rotation axle posture makes orientation mechanical rotation axle and visual adjustment benchmark
Unanimously.
Orientation mechanical rotation axle as described above and visual adjustment reference consistency set-up procedure, specifically include following step
Suddenly：
(1) framework for treating debugging device is put into fixed platform, then standard hexahedron is put into and treats adjustment device frame
Adpting flange upper surface above frame；Light path case is installed inside said frame, four-quadrant APD detections are installed inside light path case
Device, lens and laser；Lens are arranged in the middle part of light path case, and four-quadrant APD detectors are arranged on below lens, four-quadrant APD
The photosurface of detector is located at the near focal point of lens；Column of the upper surface for 45 degree of inclined-planes is installed above lens centre,
The column and lens are coaxial；On 45 degree of inclined-planes of the column above the laser beam projects that laser is sent to lens centre,
Launch light path case through the inclined-plane；Laser into light path case is converged on the photosurface of four-quadrant APD detectors by lens；
(2) by adjusting the posture of said frame so that theodolite can be with auto-collimation, and said frame adjustment is horizontal, and solid
It is fixed；
(3) by orientation mechanical rotation axle be put into at the adpting flange above said frame, by adjusting the relative of them
Position causes azimuth axis to draw the graticle one, graticle two and theodolite gun sight graticle of frock point-blank, side
Position axle and reference axis are coaxial.
It is as described above to receive optical axis and visual adjustment reference consistency set-up procedure, by orientation mechanical rotation axle be put into
At adpting flange above said frame, the graticle one of the posture graticle fixing tool by adjusting light path case, divide
Draw plate two and four-quadrant APD detectors cross hairs and theodolite gun sight graticle point-blank.
It is as described above to receive optical axis and visual adjustment reference consistency set-up procedure, adjust the appearance of laser beam in light path case
State so that hot spot makes transmitting optical axis consistent with visual adjustment benchmark at the center of four-quadrant APD detector photosurfaces.
It is as described above to receive optical axis and visual adjustment reference consistency set-up procedure, specifically comprise the following steps：
(1) plane mirror is installed to orientation mechanical rotation axle upper surface；
(2) above-mentioned plane mirror is passed through into theodolite auto-collimation level-off；
(3) corner cube reflector is put between theodolite and speculum by tripod；
(4) observe picture of the pyramid mirror in level crossing in theodolite gun sight point by the position of adjusting angle axicon lens
The center of plate is drawn, i.e. pyramid mirror puts completion；Then, speculum and theodolite are taken out；
(5) laser sent in light path case reflexes to speculum by the slant reflection mirror above lens, then by speculum
Turn back outgoing, reflect by pyramid mirror, converged to by lens on four-quadrant APD photosurfaces；According to hot spot on photosurface
Position judgment laser beam position；Adjust the position of laser beam so that hot spot now passes through at the center of detector photosurface
The positional information exported after processing is zero, completes azimuth axis with launching the adjustment of light shaft coaxle.
The beneficial effects of the invention are as follows：
The present invention is by building stabilized platform, establishing visual adjustment, orientation mechanical rotation axle and visual adjustment benchmark
Consistency adjustment, reception optical axis adjust and launched optical axis and the adjustment of visual adjustment reference consistency with visual adjustment reference consistency
Step, realizes the visual adjustment benchmark of benchmark and azimuth axis is coaxial, with launching light shaft coaxle, while with receiving light shaft coaxle, because
This azimuth axis and transmitting optical axis, reception light shaft coaxle, that is, complete the adjustment of azimuth axis and light axis consistency.
Brief description of the drawings
Fig. 1 is a kind of flow chart of laser radar azimuth axis with light axis consistency method of adjustment of the present invention；
Fig. 2 is the structure principle chart that the stabilized platform built in stabilized platform step is built in Fig. 1；
Fig. 3 is the schematic diagram that 45 degree of methods of adjustment of speculum in visual adjustment calibration step are established in Fig. 1；
Fig. 4 is that mechanical rotation axle in orientation treats debugging device with regulation in visual adjustment reference consistency set-up procedure in Fig. 1
The schematic diagram of framework posture；
Fig. 5 is that mechanical rotation axle in orientation turns with adjusting orientation machinery in visual adjustment reference consistency set-up procedure in Fig. 1
The schematic diagram of moving axis；
Fig. 6 is the sectional view that azimuth axis draws frock top in Fig. 5；
Fig. 7 is that showing for optical axis and visual adjustment reference consistency set-up procedure installation position mechanical rotation axle is received in Fig. 1
It is intended to；
Fig. 8 is to launch optical axis and the device operation chart of visual adjustment reference consistency set-up procedure in Fig. 1；
Fig. 9 is to launch optical axis and the principle schematic of visual adjustment reference consistency set-up procedure in Fig. 1.
Embodiment
With reference to the accompanying drawings and examples to a kind of laser radar azimuth axis and light axis consistency method of adjustment of the present invention
It is introduced：
As shown in figure 1, a kind of laser radar azimuth axis and light axis consistency method of adjustment, comprise the following steps：
The first step：Build stabilized platform；
Build stabilized platform.In the present embodiment, as shown in Fig. 2 stabilized platform includes fixed platform, branch
Frame, three-dimensional adjustment head, supporting plate, speculum and adjustment frock.Wherein, fixed platform is used to ensure to treat debugging device in adjustment
During do not influenceed by extraneous vibration, in the present embodiment, using versatile smart optical table realize.Support shares two
It is individual, it is metal column, bottom is provided with fixed triangle support, and two supports are individually positioned in fixed platform both sides.It is three-dimensional
Adjustment head is fixedly mounted on cradle top, and for installing supporting plate, it is realized using the universal product.Supporting plate is metal making sheet
Shape, it is placed on the upper surface of two three-dimensional adjustment heads, and through hole is provided with the middle part of its upper surface and is used as adjustment frock mounting hole,
For mounting and adjusting frock.Frock bottom is adjusted as cylindrical shape, top is rectangular into 45 degree of angle grooves with mounting surface by end face to drive
Body, it is made of metal,, will for installing speculum mounted in being fixedly mounted in supporting plate adjustment frock mounting hole for supporting plate
Reflector mount it is high and by reflector alignment to straight at 45 degree of angles.Speculum is arranged in the groove on adjustment frock top,
Speculum is straight at 45 degree of angles, for horizontal reference to be turned back to vertical direction.Above-mentioned metal is preferably aluminium.
Second step：Establish visual adjustment benchmark；
Visual adjustment benchmark is established using theodolite, makes reflector alignment to straight at 45 degree of angles.As shown in figure 3,
45 degree of adjustment of speculum comprise the following steps：
(1) fixed platform is adjusted to level using electrolevel.
(2) theodolite is carried out from Level tune, and then standard hexahedron is put into fixed platform.
(3) by adjusting the position of speculum until theodolite auto-collimation, now, reflector alignment is to straight at 45 degree
Angle, i.e. adjustment are completed.
3rd step：Orientation mechanical rotation axle adjusts with visual adjustment reference consistency；
Drawing frock using azimuth axis visualizes orientation mechanical rotation axle, and adjustment orientation mechanical rotation axle posture makes orientation
Mechanical rotation axle is consistent with visual adjustment benchmark.Specifically comprise the following steps：
(1) framework for treating debugging device is put into fixed platform, then standard hexahedron is put into and treats adjustment device frame
Adpting flange upper surface above frame.Light path case is installed inside said frame, four-quadrant APD detections are installed inside light path case
Device, lens and laser.Lens are arranged in the middle part of light path case, and four-quadrant APD detectors are arranged on below lens, four-quadrant APD
The photosurface of detector is located at the near focal point of lens.Column of the upper surface for 45 degree of inclined-planes is installed above lens centre,
The column and lens are coaxial.On 45 degree of inclined-planes of the column above the laser beam projects that laser is sent to lens centre,
Launch light path case through the inclined-plane.Laser into light path case is converged on the photosurface of four-quadrant APD detectors by lens.
(2) as shown in figure 4, posture by adjusting said frame so that theodolite can be adjusted with auto-collimation, i.e. said frame
Whole level, and it is fixed.
(3) by orientation mechanical rotation axle be put into at the adpting flange above said frame, as shown in figure 5, passing through adjustment
Their relative position causes azimuth axis to draw the graticle one of frock, graticle two with theodolite gun sight graticle at one
On straight line, i.e. azimuth axis and reference axis is coaxial.
In the present embodiment, it is up-narrow and down-wide hollow revolving body that azimuth axis, which draws frock, as shown in fig. 6, outside bottom
Portion is provided with screw thread, and the screwed hole of bottom and orientation mechanical rotation axle top is fixedly mounted, and inner side is equipped with two pieces of graduation at an upper portion thereof
Plate, the vertical range between two pieces of graticles one, 2 is adjustable, typically no less than the 2/3 of upper height.Azimuth axis is drawn frock and adopted
It is formed from aluminium.
4th step：Optical axis is received to adjust with visual adjustment reference consistency；
As shown in fig. 7, by orientation mechanical rotation axle be put into at the adpting flange above said frame, by adjusting light path
The posture of case causes the graticle one, graticle two and four-quadrant APD detectors cross hairs and theodolite of graticle fixing tool
Gun sight graticle point-blank, that is, it is consistent with reference axis to receive optical axis.
5th step：Launch optical axis to adjust with visual adjustment reference consistency；
Adjust the posture of laser beam in light path case so that hot spot makes hair at the center of four-quadrant APD detector photosurfaces
It is consistent with visual adjustment benchmark to penetrate optical axis.
In the present embodiment, specifically comprise the following steps：
(1) plane mirror is installed to orientation mechanical rotation axle upper surface, as shown in Figure 8.
(2) above-mentioned plane mirror is passed through into theodolite auto-collimation level-off.
(3) corner cube reflector is put between theodolite and speculum by tripod.
(4) observe picture of the pyramid mirror in level crossing in theodolite gun sight point by the position of adjusting angle axicon lens
The center of plate is drawn, i.e. pyramid mirror puts completion.Then, speculum and theodolite are taken out.
(5) as shown in figure 9, the laser sent in light path case reflexes to speculum by the slant reflection mirror above lens,
Turned back outgoing by speculum again, reflect by pyramid mirror, converged to by lens on four-quadrant APD photosurfaces.According to hot spot
Position judgment laser beam position on photosurface.Adjust the position of laser beam so that hot spot is at the center of detector photosurface
Place, the positional information now exported after treatment is zero.Transmitting optical axis is now completed to adjust with visual adjustment reference consistency,
That is the adjustment of azimuth axis and transmitting light shaft coaxle.
The present invention is by building stabilized platform, establishing visual adjustment, orientation mechanical rotation axle and visual adjustment benchmark
Consistency adjustment, reception optical axis adjust and launched optical axis and the adjustment of visual adjustment reference consistency with visual adjustment reference consistency
Step, realizes the visual adjustment benchmark of benchmark and azimuth axis is coaxial, with launching light shaft coaxle, while with receiving light shaft coaxle, because
This azimuth axis and transmitting optical axis, reception light shaft coaxle, that is, complete the adjustment of azimuth axis and light axis consistency.
Claims (9)
1. a kind of laser radar azimuth axis and light axis consistency method of adjustment, comprise the following steps：
The first step：Build stabilized platform；
Second step：Establish visual adjustment benchmark；
3rd step：Orientation mechanical rotation axle adjusts with visual adjustment reference consistency；
4th step：Optical axis is received to adjust with visual adjustment reference consistency；
5th step：Launch optical axis to adjust with visual adjustment reference consistency.
2. a kind of laser radar azimuth axis according to claim 1 and light axis consistency method of adjustment, it is characterised in that：Institute
That states builds stabilized platform step, and stabilized platform includes fixed platform, support, three-dimensional adjustment head, supporting plate, anti-
Penetrate mirror and adjustment frock；Wherein, fixed platform is used to ensure to treat debugging device during adjustment not by the shadow of extraneous vibration
Ring；Support shares two, is metal column, and bottom is provided with fixed triangle support, and two supports are individually positioned in fixation
Platform both sides；Three-dimensional adjustment head is fixedly mounted on cradle top, for installing supporting plate；Supporting plate is metal making sheet shape, branch
Fagging is placed on the upper surface of two three-dimensional adjustment heads, and through hole is provided with the middle part of its upper surface and is used as adjustment frock mounting hole,
For mounting and adjusting frock；Adjustment frock bottom is metal rounding tubular, and top is recessed into 45 degree of angles with mounting surface by end face to drive
Flute length cube, mounted in being fixedly mounted in supporting plate adjustment frock mounting hole for supporting plate, for installing speculum, by speculum
Frame it is high and by reflector alignment to straight at 45 degree of angles；Speculum is arranged in the groove on adjustment frock top, speculum
Straight at 45 degree of angles, for horizontal reference to be turned back to 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：Institute
The fixed platform stated realizes that described above-mentioned metal is preferably aluminium using versatile smart optical table.
4. a kind of laser radar azimuth axis according to claim 1 and light axis consistency method of adjustment, it is characterised in that：Institute
The visual adjustment calibration step of foundation stated, visual adjustment benchmark is established using theodolite, makes reflector alignment to straight at 45
Spend angle.
5. a kind of laser radar azimuth axis according to claim 4 and light axis consistency method of adjustment, it is characterised in that：Institute
The visual adjustment calibration step of foundation stated, 45 degree of adjustment of speculum comprise the following steps：
(1) fixed platform is adjusted to level using electrolevel；
(2) theodolite is carried out from Level tune, and then standard hexahedron is put into fixed platform；
(3) by adjusting the position of speculum until theodolite auto-collimation, reflector alignment is to straight at 45 degree of angles.
6. a kind of laser radar azimuth axis according to claim 1 and light axis consistency method of adjustment, it is characterised in that：Institute
The orientation mechanical rotation axle stated and visual adjustment reference consistency set-up procedure, drawing frock using azimuth axis turns orientation machinery
Moving axis visualizes, and adjustment orientation mechanical rotation axle posture makes orientation mechanical rotation axle consistent with visual adjustment benchmark.
7. a kind of laser radar azimuth axis according to claim 6 and light axis consistency method of adjustment, it is characterised in that：Institute
The orientation mechanical rotation axle stated and visual adjustment reference consistency set-up procedure, specifically comprise the following steps：
(1) framework for treating debugging device is put into fixed platform, then standard hexahedron is put into and treated on adjustment device frame
The adpting flange upper surface of side；Light path case is installed inside said frame, be provided with inside light path case four-quadrant APD detectors,
Lens and laser；Lens are arranged in the middle part of light path case, and four-quadrant APD detectors are arranged on below lens, four-quadrant APD detections
The photosurface of device is located at the near focal point of lens；Column of the upper surface for 45 degree of inclined-planes, the post are installed above lens centre
Shape body and lens are coaxial；On 45 degree of inclined-planes of the column above the laser beam projects that laser is sent to lens centre, through this
Launch light path case in inclined-plane；Laser into light path case is converged on the photosurface of four-quadrant APD detectors by lens；
(2) by adjusting the posture of said frame so that theodolite can be with auto-collimation, and said frame adjustment is horizontal, and fixed；
(3) by orientation mechanical rotation axle be put into at the adpting flange above said frame, by adjusting their relative position
So that azimuth axis draws the graticle one, graticle two and theodolite gun sight graticle of frock point-blank, azimuth axis
It is coaxial with reference axis.
8. a kind of laser radar azimuth axis according to claim 7 and light axis consistency method of adjustment, it is characterised in that：Institute
The reception optical axis stated and visual adjustment reference consistency set-up procedure, by orientation mechanical rotation axle be put into above said frame
At adpting flange, the posture azimuth axis by adjusting light path case draws graticle one, graticle two and four-quadrant that frock fills
Limit APD detectors cross hairs and theodolite gun sight graticle point-blank.
9. a kind of laser radar azimuth axis according to claim 1 and light axis consistency method of adjustment, it is characterised in that：Institute
The reception optical axis stated and visual adjustment reference consistency set-up procedure, adjust the posture of laser beam in light path case so that hot spot exists
At the center of four-quadrant APD detector photosurfaces, make reception optical axis consistent with visual adjustment benchmark.
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106353870B (en) * | 2016-10-31 | 2019-01-08 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of adjustment any angle reflecting mirror is turned back the method for front and back optical axis |
| CN106772320B (en) * | 2017-03-10 | 2023-06-16 | 中国科学技术大学 | Laser radar's emission beam direction preliminary adjustment perpendicular arrangement |
| CN108801294B (en) * | 2018-06-08 | 2022-04-08 | 西安应用光学研究所 | Multi-optical-axis parallelism adjusting method for spatial rotation multi-optical-axis system |
| CN109489692B (en) * | 2018-12-11 | 2022-04-12 | 河北汉光重工有限责任公司 | Semi-active laser guidance seeker zero adjustment method |
| CN110954084B (en) * | 2019-11-04 | 2021-06-22 | 中国科学院西安光学精密机械研究所 | Measuring method of moving lens group attitude measuring device |
| CN111323887B (en) * | 2020-03-23 | 2021-03-23 | 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 |
| CN112505664B (en) * | 2020-11-27 | 2023-07-14 | 北京航天计量测试技术研究所 | Laser radar light path adjustment method |
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| JP2000206243A (en) * | 1999-01-07 | 2000-07-28 | Hitachi Ltd | Laser radar with automatic adjusting device for transmission/reception optical axis |
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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 |
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