CN110568420B - Laser radar receiving and transmitting alignment device and method - Google Patents
Laser radar receiving and transmitting alignment device and method Download PDFInfo
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- CN110568420B CN110568420B CN201910810058.5A CN201910810058A CN110568420B CN 110568420 B CN110568420 B CN 110568420B CN 201910810058 A CN201910810058 A CN 201910810058A CN 110568420 B CN110568420 B CN 110568420B
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
Abstract
The invention relates to a laser radar receiving and transmitting alignment device and method, belongs to the technical field of laser remote sensing, and can be used for aligning a receiving and transmitting optical axis of a laser radar system. The device and the method construct a set of independent receiving and transmitting mismatching measuring system by the focal plane indicating light, the independent area array camera and the light guide prism and matching with corresponding algorithms, can obtain receiving and transmitting mismatching amount in real time through the system, and guides the laser pointing adjusting unit to finish receiving and transmitting alignment of the laser radar system.
Description
Technical Field
The invention relates to a laser radar receiving and transmitting alignment device and method, belongs to the technical field of laser remote sensing, and can be used for aligning a receiving and transmitting optical axis of a laser radar system.
Background
The laser radar can be used for distance detection and atmosphere detection, and is a laser application technology which is widely applied.
Lidar generally employs laser transmission with a very small divergence angle and very narrow field of view reception, and thus alignment of the laser transmission axis with the reception axis is a key factor affecting the performance of the lidar.
In practical applications, a larger receiving field of view may be used to ensure that signals can be received even if the transmitting and receiving optical axes are deviated, but the larger receiving field of view may introduce larger background light noise.
The small receiving visual field can effectively inhibit the interference of background light noise, but the alignment of the transmitting and receiving optical axes is deteriorated due to the influence of structural stability, thereby reducing the receiving efficiency and even causing the system to fail.
For this reason, automatic alignment devices for lidar have been designed. In the current automatic alignment apparatus, an area array imaging device such as a CCD or a CMOS is generally disposed at the rear end of the receiving optical system, and echo light or common path indicating light is imaged on the area array device by a light splitting or light path switching method. And judging the mismatching amount through the alignment relation between the spot image on the area array device and the receiving view field, and adjusting the laser emission axis or the receiving view field optical axis to complete receiving and transmitting matching.
The method usually loses part of echo light or introduces a switching mechanism with high repeatability, and the method also usually needs to work in a time-sharing mode with a laser radar system. The main defects are as follows: (1) a part of echo signals are lost; (2) a switching mechanism with higher repeatability requirement is introduced; (3) the real-time performance is poor.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the device and the method construct a set of independent receiving and transmitting mismatch measurement system by using focal plane indicating light, an independent area array camera and a light guide prism and matching with a corresponding algorithm, can obtain the receiving and transmitting mismatch amount in real time through the system, and guides a laser pointing adjustment unit to finish the receiving and transmitting alignment of a laser radar system.
The technical solution of the invention is as follows:
a laser radar receives and dispatches the alignment device, the laser radar includes laser emission unit, receives telescope and echo detection unit;
the transmitting-receiving alignment device comprises a transmitting optical axis light guide prism, an optical axis monitoring camera, a receiving optical axis light guide prism, a first focal plane indicating light source and a second focal plane indicating light source;
the first focal plane indicating light source and the second focal plane indicating light source are positioned at different positions of a receiving focal plane of the receiving telescope, and the center of the first focal plane indicating light source, the center of the second focal plane indicating light source and the center of the echo detection unit are collinear;
the emission optical axis light guide prism is used for intercepting laser emitted by the laser emission unit and transmitting the intercepted laser to the optical axis monitoring camera;
the first focal plane indicating light source is used for emitting light beams to the receiving telescope, and the receiving telescope collimates the received light beams into first quasi-parallel light and then emits the first quasi-parallel light to the outside after receiving the light beams;
the second focal plane indicating light source is used for emitting light beams to the receiving telescope, and the receiving telescope collimates the received light beams into second quasi-parallel light and then emits the second quasi-parallel light to the outside after receiving the light beams;
the receiving optical axis light guide prism is used for intercepting the first quasi-parallel light and the second quasi-parallel light transmitted by the receiving telescope and transmitting the intercepted first quasi-parallel light and second quasi-parallel light to the optical axis monitoring camera;
the optical axis monitoring camera is used for receiving laser transmitted by the transmitting optical axis light guide prism and also used for receiving intercepted first quasi-parallel light and second quasi-parallel light transmitted by the receiving optical axis light guide prism, the received laser forms a light spot B on a focal plane of the optical axis monitoring camera, the received intercepted first quasi-parallel light forms a light spot A on the focal plane of the optical axis monitoring camera, and the received intercepted second quasi-parallel light forms a light spot C on the focal plane of the optical axis monitoring camera.
A laser radar transmit-receive alignment method comprises the following steps:
(1) a laser transmitting unit in the laser radar transmits laser to a transmitting optical axis light guide prism, the transmitting optical axis light guide prism intercepts part of the laser and transmits the intercepted part of the laser to an optical axis monitoring camera;
(2) the first focal plane indicating light source transmits a first light beam to the receiving telescope, the second focal plane indicating light source transmits a second light beam to the receiving telescope, the receiving telescope receives the first light beam and the second light beam, collimates the first quasi-parallel light and the second quasi-parallel light and transmits the first quasi-parallel light and the second quasi-parallel light to the receiving optical axis light guide prism, the receiving optical axis light guide prism intercepts part of the first quasi-parallel light and the second quasi-parallel light and transmits the intercepted part of the first quasi-parallel light and the second quasi-parallel light to the optical axis monitoring camera;
(3) the optical axis monitoring camera forms a light spot B on the focal plane of the optical axis monitoring camera by the received laser, forms a light spot A on the focal plane of the optical axis monitoring camera by the received first quasi-parallel light, and forms a light spot C on the focal plane of the optical axis monitoring camera by the received second quasi-parallel light;
(4) the direction of the laser light emitted by the laser emitting unit is adjusted to change the position of b' until two conditions are satisfied: first, a ', b ' and c ' are collinear; secondly, the following formula is satisfied;
wherein a' is the central position of the light spot A; b 'is the central position of the light spot B, C' is the central position of the light spot C, a '-B' is the distance between the central position of the light spot A and the central position of the light spot B, and C '-B' is the distance between the central position of the light spot C and the central position of the light spot B;
b is the central position of the echo detection unit, a is the central position of the first focal plane indicating light source, c is the central position of the second focal plane indicating light source, a-b is the distance between the central position of the first focal plane indicating light source and the central position of the echo detection unit, and c-b is the distance between the central position of the second focal plane indicating light source and the central position of the echo detection unit;
at this time, laser radar transmission and receiving alignment is completed.
Advantageous effects
(1) The method can ensure the receiving and transmitting matching reliability of the laser radar system, especially a large-scale laser radar system.
(2) Compared with the receiving and transmitting matching method of the light splitting type, the method does not lose echo signals, effectively keeps the signal-to-noise ratio and also avoids stray light interference caused by light splitting.
(3) Compared with a transceiving matching method for configuring a switching component, the method does not introduce the switching component, so that system failure caused by switching function failure can be avoided.
(4) Compared with the receiving and transmitting matching method of the configuration switching part, the receiving and transmitting matching state can be adjusted in real time by using the method, and the working time ratio can be improved.
(5) Compared with a receiving and transmitting matching method which judges according to echo signals, the method does not depend on the quality of the echo signals, and can greatly reduce the requirements of the environment and the working condition of receiving and transmitting matching.
(6) The method can monitor the receiving and transmitting matching state of the system in real time, and effectively improve the monitoring capability and the emergency capability of the mismatch fault.
Drawings
FIG. 1 is a schematic diagram of the apparatus of the present invention.
Detailed Description
The laser radar system comprises a laser transmitting unit 1 of the laser radar, a receiving telescope 5 and a laser radar echo detection unit 7.
As shown in fig. 1, the lidar transmit-receive alignment system is mainly composed of a transmitting optical axis light guide prism 2, an optical axis monitoring camera 3, a receiving optical axis light guide prism 4, a focal plane indicating light source 6 and a focal plane indicating light source 8.
The laser radar automatic alignment method comprises the following steps:
measuring coordinate positions a and c of the focal plane indicating light 6 and the focal plane indicating light 8 on the focal plane of the receiving telescope 5;
measuring the coordinate position b of the echo detection unit 7 on the focal plane of the receiving telescope 5;
a laser emitting unit 1 of the laser radar emits laser;
the emission optical axis light guide prism 2 intercepts a small amount of laser emitted by the laser emission unit 1 and transmits the laser to the optical axis monitoring camera 3;
the focal plane indicating light source 6 and the focal plane indicating light source 8 emit light, and the light enters the receiving optical axis light guide prism 4 after passing through the receiving telescope 5;
a receiving optical axis light guide prism intercepts a small amount of quasi-parallel light collimated by a focal plane indicating light source 6 and a focal plane indicating light source 8 through a receiving telescope 5, and transmits the quasi-parallel light to an optical axis monitoring camera 3;
the area-array camera 3 images the light incident from the transmission-optical-axis light guide prism 2 and the reception-optical-axis light guide prism 4, where the image points representing the focal-plane index light source 6 and the focal-plane index light source 8 are a ' and c ', respectively, and the image point representing the optical axis of the laser emitting unit is b '.
According to the optical principle, when the laser emission optical axis is aligned with the receiving optical axis limited by the echo detection unit, an image point b' on the focal plane of the optical axis monitoring camera is coincided with an image point imaged by the laser radar echo unit 7 through the receiving telescope 5, the receiving optical axis light guide prism 4 and the optical path of the area array camera.
Changing the position of b' by adjusting the direction of the laser beam emitted by the laser emitting unit until the following conditions are met:
at this time, the laser radar system can finish the emission and receiving alignment.
Examples
As shown in fig. 1, a lidar transmitting and receiving alignment device comprises a laser transmitting unit 1, a receiving telescope 5 and an echo detecting unit 7;
wherein, the laser emission unit emits pulse laser with the wavelength of 1064 nm. The focal length of the receiving telescope is 1 m.
The transmitting-receiving alignment device comprises a transmitting optical axis light guide prism 2, an optical axis monitoring camera 3, a receiving optical axis light guide prism 4, a first focal plane indicating light source 6 and a second focal plane indicating light source 8;
the focal length of the optical axis monitoring camera 3 is 0.25m, the first focal plane indicating light source 6 emits 1064nm continuous laser light, and the second focal plane indicating light source 8 emits 1064nm continuous laser light.
The first focal plane indicating light source 6 and the second focal plane indicating light source 8 are positioned at different positions of a receiving focal plane of the receiving telescope 5, and the center of the first focal plane indicating light source 6, the center of the second focal plane indicating light source 8 and the center of the echo detection unit 7 are collinear;
let the coordinate of the center a of the first focal plane indicating light source 6 be 0mm, the coordinate of the center c of the second focal plane indicating light source 8 be 4mm, and the coordinate of the center b of the echo detection unit 7 be 2 mm.
The emission optical axis light guide prism 2 is used for intercepting laser emitted by the laser emission unit 1 and transmitting the intercepted laser to the optical axis monitoring camera 3;
the first focal plane indicating light source 6 is used for emitting light beams to the receiving telescope 5, and the receiving telescope 5 collimates the received light beams into first quasi-parallel light and then emits the first quasi-parallel light to the outside after receiving the light beams;
the second focal plane indicating light source 8 is used for emitting light beams to the receiving telescope 5, and the receiving telescope 5 collimates the received light beams into second quasi-parallel light beams and then emits the second quasi-parallel light beams to the outside after receiving the light beams;
the receiving optical axis light guide prism 4 is used for intercepting the first quasi-parallel light and the second quasi-parallel light emitted by the receiving telescope 5 and transmitting the intercepted first quasi-parallel light and second quasi-parallel light to the optical axis monitoring camera 3;
the optical axis monitoring camera 3 is used for receiving the laser transmitted by the transmitting optical axis light guide prism 2 and receiving the intercepted first quasi-parallel light and second quasi-parallel light transmitted by the receiving optical axis light guide prism 4, forming a light spot B on the focal plane of the optical axis monitoring camera 3 by the received laser, forming a light spot a on the focal plane of the optical axis monitoring camera 3 by the received intercepted first quasi-parallel light, and forming a light spot C on the focal plane of the optical axis monitoring camera 3 by the received intercepted second quasi-parallel light.
And if the coordinate of the center a 'of the light spot A is 0mm, the coordinate C' of the center of the light spot C is 1 mm.
A laser radar transmit-receive alignment method comprises the following steps:
(1) a laser transmitting unit 1 in the laser radar transmits laser to a transmitting optical axis light guide prism 2, the transmitting optical axis light guide prism 2 intercepts part of the laser, and transmits the intercepted part of the laser to an optical axis monitoring camera 3;
(2) the first focal plane indicating light source 6 emits a first light beam to the receiving telescope 5, the second focal plane indicating light source 8 emits a second light beam to the receiving telescope 5, the receiving telescope 5 receives the first light beam and the second light beam, collimates the first quasi-parallel light and the second quasi-parallel light and then emits the first quasi-parallel light and the second quasi-parallel light to the receiving optical axis light guide prism 4, the receiving optical axis light guide prism 4 intercepts part of the first quasi-parallel light and part of the second quasi-parallel light, and transmits the intercepted part of the first quasi-parallel light and the intercepted part of the second quasi-parallel light to the optical axis monitoring camera 3;
(3) the optical axis monitoring camera 3 forms a light spot B on the focal plane of the optical axis monitoring camera 3 by the received laser, forms a light spot A on the focal plane of the optical axis monitoring camera 3 by the received first quasi-parallel light, and forms a light spot C on the focal plane of the optical axis monitoring camera 3 by the received second quasi-parallel light;
(4) the direction of the laser light emitted by the laser emission unit 1 is adjusted using a double optical wedge to change the position of b' until two conditions are satisfied: first, a ', b ', and c ' are collinear; second, 0.5 mm.
Wherein a' is the central position of the light spot A; b 'is the central position of the light spot B, C' is the central position of the light spot C, a '-B' is the distance between the central position of the light spot A and the central position of the light spot B, and C '-B' is the distance between the central position of the light spot C and the central position of the light spot B;
b is the central position of the echo detection unit 7, a is the central position of the first focal plane indicating light source 6, c is the central position of the second focal plane indicating light source 8, a-b is the distance between the central position of the first focal plane indicating light source 6 and the central position of the echo detection unit 7, and c-b is the distance between the central position of the second focal plane indicating light source 8 and the central position of the echo detection unit 7;
at this time, laser radar transmission and receiving alignment is completed.
Claims (2)
1. A laser radar receives and dispatches aligning device which characterized in that: the laser radar comprises a laser transmitting unit, a receiving telescope and an echo detecting unit;
the transmitting-receiving alignment device comprises a transmitting optical axis light guide prism, an optical axis monitoring camera, a receiving optical axis light guide prism, a first focal plane indicating light source and a second focal plane indicating light source;
the first focal plane indicating light source and the second focal plane indicating light source are positioned at different positions of a receiving focal plane of the receiving telescope, and the center of the first focal plane indicating light source, the center of the second focal plane indicating light source and the center of the echo detection unit are collinear;
the emission optical axis light guide prism is used for intercepting laser emitted by the laser emission unit and transmitting the intercepted laser to the optical axis monitoring camera;
the first focal plane indicating light source is used for emitting light beams to the receiving telescope, and the receiving telescope collimates the received light beams into first quasi-parallel light and then emits the first quasi-parallel light to the outside after receiving the light beams;
the second focal plane indicating light source is used for emitting light beams to the receiving telescope, and the receiving telescope collimates the received light beams into second quasi-parallel light and then emits the second quasi-parallel light to the outside after receiving the light beams;
the receiving optical axis light guide prism is used for intercepting the first quasi-parallel light and the second quasi-parallel light transmitted by the receiving telescope and transmitting the intercepted first quasi-parallel light and second quasi-parallel light to the optical axis monitoring camera;
the optical axis monitoring camera is used for receiving laser transmitted by the transmitting optical axis light guide prism and also used for receiving intercepted first quasi-parallel light and second quasi-parallel light transmitted by the receiving optical axis light guide prism, the received laser forms a light spot B on a focal plane of the optical axis monitoring camera, the received intercepted first quasi-parallel light forms a light spot A on the focal plane of the optical axis monitoring camera, and the received intercepted second quasi-parallel light forms a light spot C on the focal plane of the optical axis monitoring camera.
2. A laser radar transmit-receive alignment method is characterized by comprising the following steps:
(1) a laser transmitting unit in the laser radar transmits laser to a transmitting optical axis light guide prism, the transmitting optical axis light guide prism intercepts part of the laser and transmits the intercepted part of the laser to an optical axis monitoring camera;
(2) the first focal plane indicating light source transmits a first light beam to the receiving telescope, the second focal plane indicating light source transmits a second light beam to the receiving telescope, the receiving telescope receives the first light beam and the second light beam, collimates the first quasi-parallel light and the second quasi-parallel light and transmits the first quasi-parallel light and the second quasi-parallel light to the receiving optical axis light guide prism, the receiving optical axis light guide prism intercepts part of the first quasi-parallel light and the second quasi-parallel light and transmits the intercepted part of the first quasi-parallel light and the second quasi-parallel light to the optical axis monitoring camera;
(3) the optical axis monitoring camera forms a light spot B on the focal plane of the optical axis monitoring camera by the received laser, forms a light spot A on the focal plane of the optical axis monitoring camera by the received first quasi-parallel light, and forms a light spot C on the focal plane of the optical axis monitoring camera by the received second quasi-parallel light;
(4) adjusting the direction of the laser emitted by the laser emitting unit until the following conditions are met, and finishing the alignment of the laser radar emission and the laser radar receiving;
in the step (4), a' is the central position of the light spot A; b 'is the central position of the light spot B, C' is the central position of the light spot C, and a '-B' is the distance between the central position of the light spot A and the central position of the light spot B; c '-B' is the distance between the central position of the light spot C and the central position of the light spot B; b is the central position of the echo detection unit; a is the central position of the first focal plane indicating light source; c is the central position of the second focal plane indicating light source; a-b is the distance between the central position of the first focal plane indicating light source and the central position of the echo detection unit; c-b is the distance of the central position of the second focal plane indicating light source from the central position of the echo detection unit.
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