CN112505664B - Laser radar light path adjustment method - Google Patents
Laser radar light path adjustment method Download PDFInfo
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- CN112505664B CN112505664B CN202011360170.2A CN202011360170A CN112505664B CN 112505664 B CN112505664 B CN 112505664B CN 202011360170 A CN202011360170 A CN 202011360170A CN 112505664 B CN112505664 B CN 112505664B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser radar light path adjustment method which is convenient to operate and can meet the requirements of high-efficiency and high-precision adjustment of a laser radar light path; and in the movement process of the focusing lens, the focusing lens can be ensured to be coaxial with other lenses at all positions. The laser radar light path includes: the method comprises the steps of adjusting the collimating mirror A, the collimating mirror B, the focusing mirror and the gluing mirror, wherein when the focusing mirror is used, the moving axis of a focusing motor is adjusted to be consistent with the axes of other lenses, and then the focusing mirror is adjusted to be coaxial with the other lenses so as to ensure that the axes of the focusing mirror are consistent with the axes of the other lenses in the moving process of the focusing mirror.
Description
Technical Field
The invention belongs to the field of mechanical design, and particularly relates to a laser radar light path adjustment method.
Background
The laser radar optical system mainly comprises a laser light source, a collimating mirror A, a collimating mirror B, a focusing mirror and a gluing mirror, and is shown in figure 1. The laser source emits laser, the laser sequentially passes through the collimating mirror A, the collimating mirror B, the focusing mirror and the gluing mirror to be projected on the surface of the object to be measured, reflection occurs on the surface of the object, and the detector receives the light intensity returned by the surface of the object, so that the object to be measured is measured. In order to ensure the accuracy of measurement, the relative positions of the lenses are extremely strict, and particularly the distance between the lenses and the coaxiality between the lenses, so that the realization of the high-precision adjustment method suitable for the laser radar light path has important significance.
The method for adjusting the optical lens in the prior art comprises the following steps: (1) adopting a theodolite to carry out light path adjustment; (2) The invisible light is shown as visible light by utilizing an endoscope, so that the visibility adjustment of a laser optical axis is realized; (3) And (3) placing a transmission mirror at a proper position between the reflecting mirror and the interferometer, and adjusting the position of the lens according to a cloud image and an interference pattern of the transmission mirror displayed by a computer connected with the interferometer.
However, for the laser radar light path which needs to be packaged in a cylindrical part, and the coaxiality of the focusing lens and other lenses is required to be unchanged in the whole focusing stroke of the focusing lens driven by the focusing motor, the methods are not very convenient to apply to the laser radar light path adjustment, and the light is blocked or the adjustment space of the laser radar light path cannot meet the requirements.
Disclosure of Invention
In view of the above, the invention provides a laser radar light path adjustment method, which is convenient to operate and can meet the requirements of high-efficiency and high-precision adjustment of the laser radar light path; and in the movement process of the focusing lens, the focusing lens can be ensured to be coaxial with other lenses at all positions.
The technical scheme of the invention is as follows: a laser radar light path adjustment method comprises the following steps: the adjusting table adopted by the adjusting method comprises the following steps: the device comprises a supporting platform, a rotary table, a centering instrument upright post and a centering instrument eyepiece; the turntable and the centering instrument stand column are fixed on a supporting platform; the centering instrument ocular is arranged on the centering instrument upright post, so that the optical axis of the centering instrument ocular coincides with the axis of the rotating shaft of the turntable; the eye piece of the centering instrument can move up and down along the upright post of the centering instrument; the surface of the turntable is provided with a mounting table board, the left and right directions in the horizontal plane are X directions, the front and back directions are Y directions, the vertical direction is Z directions, and the mounting table board has the degrees of freedom of translation along the X directions, translation along the Y directions and rotation around the Y directions;
the laser radar light path adjustment process comprises the following steps:
step one: the optical path shell is vertically placed on a mounting table top of the turntable, and after the axis of the optical path shell is adjusted to coincide with the axis of the rotary shaft of the turntable, the optical path shell is fixed on the mounting table top;
step two: calculating the positions of spherical center images of all the mirrors according to the design intervals and the design curvatures of the collimating mirror A, the collimating mirror B, the focusing mirror and the gluing mirror so as to determine the installation positions of the spherical center images in the light path shell;
step three: adjustment of the collimating mirror A:
according to the installation position determined in the second step, a collimating mirror A is placed in the light path shell, the centering instrument eyepiece is moved up and down to adjust the position of the centering instrument eyepiece, and the spherical center image of the collimating mirror A can be observed from the centering instrument eyepiece; then rotating the turntable, if the spherical center image of the collimating lens A draws a circle in the ocular of the centering instrument, indicating that eccentric displacement or/and eccentric angle exists between the axis of the collimating lens A and the axis of the rotating shaft of the turntable, and adjusting the position or/and angle of the collimating lens A by adjusting the installation table surface of the turntable until the spherical center image of the collimating lens A is not moved in the ocular of the centering instrument when the turntable is rotated; then fixing the collimating mirror A in the light path shell;
step four: and (3) mounting and adjusting a collimating mirror B:
placing the collimating lens B into a light path shell according to the installation position determined in the second step; adjusting the position of an ocular of the centering instrument to ensure that the spherical center image of the collimating mirror B can be observed from the ocular of the centering instrument; then rotating the turntable, if the spherical center image of the collimating lens B draws a circle in the ocular of the centering instrument, indicating that eccentric displacement or/and eccentric angle exists between the axis of the collimating lens B and the axis of the rotating shaft of the turntable, adjusting the position or/and the angle of the collimating lens B until the spherical center image of the collimating lens B is not moved in the ocular of the centering instrument when the turntable is rotated, and then fixing the collimating lens B in the light path shell;
step five: mounting and adjusting a focusing motor and a focusing mirror:
the motion axis which is regulated first coincides with the rotation axis of the turntable:
the focusing motor is a linear motor and is used for driving the focusing lens to move up and down; a plane reflecting mirror with a mark on a mirror surface is placed at the position of a focusing mirror and is connected with the power output end of a focusing motor through an adjusting piece; controlling a focusing motor to drive the plane reflecting mirror to reciprocate up and down, and keeping the turntable motionless; observing in an ocular of the centering instrument, if the mark on the plane mirror surface is motionless, indicating that the motion axis of the focusing motor coincides with the rotation axis of the turntable; otherwise, adjusting the movement axis of the focusing motor until the mark on the mirror surface of the plane mirror observed from the ocular of the centering instrument is motionless when the plane mirror reciprocates up and down;
then adjusting the axis of the focusing lens to coincide with the axis of the rotary shaft of the rotary table:
taking down the plane reflector, mounting the focusing mirror at the power output end of the focusing motor through the adjusting piece, rotating the turntable, observing the spherical center image of the focusing mirror in the ocular of the centering instrument, and if the spherical center image of the focusing mirror draws a circle in the ocular of the centering instrument, indicating that eccentric displacement or/and eccentric angle exists between the axis of the focusing mirror and the rotating shaft of the turntable, and adjusting the position or/and angle of the focusing mirror until the spherical center image of the focusing mirror is in a fixed position in the ocular of the centering instrument;
step six: and (3) mounting and adjusting a gluing mirror:
placing the cementing mirror into a light path shell according to the installation position determined in the second step; adjusting the position of the eye piece of the centering instrument to ensure that the ball center image of the gluing mirror can be observed from the eye piece of the centering instrument; and then rotating the turntable, if the spherical center image of the gluing lens draws a circle in the ocular of the centering instrument, indicating that eccentric displacement or/and eccentric angle exists between the axis of the gluing lens and the axis of the rotary shaft of the turntable, adjusting the position or/and the angle of the gluing lens until the spherical center image of the gluing lens is fixed in the ocular of the centering instrument when the turntable is rotated, and then fixing the gluing lens in the light path shell.
As a preferred mode of the present invention: in the first step, after the light path shell is vertically placed on a mounting table surface of a turntable, measuring the inner circumferential surface of the light path shell by using a dial indicator, and rotating the turntable, wherein if the dial indicator changes, the axis of the light path shell is not coincident with the axis of a rotary shaft of the turntable; and adjusting the position of the light path shell on the mounting table board until the dial indicator number is unchanged when the turntable is rotated, and indicating that the axis of the light path shell coincides with the axis of the turntable rotating shaft.
As a preferred mode of the present invention: an adjusting sleeve A is arranged between the collimating lens A and the collimating lens B, and the distance between the collimating lens A and the collimating lens B is ensured through the adjusting sleeve A.
As a preferred mode of the present invention: in the fourth step, the adjustment of the angle of the collimating lens B is achieved by grinding the end surface of the adjusting sleeve a opposite to the collimating lens B; the adjustment of the position of the collimating lens B comprises the adjustment of the position in the X direction and the Y direction, and the adjustment mode of the position is as follows: and jackscrews are respectively arranged at two ends of the collimating mirror BX direction and two ends of the collimating mirror Y direction on the light path shell, and the position of the collimating mirror B is adjusted by screwing the jackscrews in the offset direction.
As a preferred mode of the present invention: in the fifth step, the angle of the focusing lens is adjusted by grinding the end face of the adjusting piece, which is opposite to the focusing lens; the adjustment of the position of the focusing lens comprises X-direction and Y-direction position adjustment, wherein the Y-direction position adjustment is realized by adjusting the thickness of the adjusting piece, and the X-direction position adjustment is realized by adjusting a connecting screw of the focusing lens and the grinding adjusting piece in the X-direction.
As a preferred mode of the present invention: the cementing lens is arranged inside the light path shell through an adjusting sleeve B.
As a preferred mode of the present invention: in the sixth step, the angle of the bonding lens is adjusted by grinding the end surface of the adjusting sleeve B opposite to the bonding lens; the adjustment of the position of the gluing mirror comprises the adjustment of the position in the X direction and the Y direction, and the position adjustment mode is as follows: on the light path shell, jackscrews are respectively arranged at the two ends of the X direction and the two ends of the Y direction of the gluing mirror, and the position of the gluing mirror is adjusted by screwing the jackscrews in the offset direction.
The beneficial effects are that:
(1) The adjustment method is suitable for adjusting the laser radar light path packaged in one cylindrical part, and can realize high-efficiency and high-precision adjustment of the laser radar light path, thereby ensuring the measurement precision of the laser radar.
(2) The axis of the focusing motor is consistent with the axes of other lenses, so that the focusing lens can be ensured to be consistent with the axes of other lenses in the moving process.
Drawings
FIG. 1 is a schematic view of a laser radar light path;
FIG. 2 is a schematic view of the movement direction of the focusing motor and other lens coaxial states;
FIG. 3 is a schematic view of a focusing motor in a state in which the direction of movement is not coaxial with other lenses;
FIG. 4 is a schematic diagram of a tuning table according to the tuning method of the present invention;
fig. 5 is a tuning flow chart.
Wherein: 1-a supporting platform; 2-a turntable; 3-a collimator lens A; 4-adjusting the sleeve A; 5-a collimating mirror B; 6-focusing motor; 7-an adjusting piece; 8-focusing mirror; 9-an optical path housing; 10-adjusting the sleeve B; 11-a glue mirror; 12-centering instrument ocular; 13-centering instrument upright post, 14-laser light source and 15-ideal shaft
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The embodiment provides the optical path adjustment method which is applicable to the laser radar optical path and convenient to operate, and ensures the distance and coaxiality of each lens in the laser radar optical path, thereby ensuring the measurement accuracy of the laser radar.
The laser radar light path includes: the optical path housing, and the collimator lens A3, the collimator lens B5, the focusing lens 8 and the gluing lens 11 coaxially installed in the optical path housing, wherein the focusing lens 8 can move along the axis thereof when the focusing motor 6 is driven.
When the laser radar measures objects to be measured in different distances, focusing operation is needed, and the focusing operation is realized by driving the focusing lens 8 to linearly move by the focusing motor 6. In order to ensure the accuracy of the measurement result, it is necessary to ensure that the axis of the focusing lens 8 is identical (coaxial) with the axis of the other lenses (the collimating lens A3, the collimating lens B5 and the gluing lens 11) during the movement of the focusing lens 8, so that the coaxial axes of the focusing lens 8, the collimating lens A3, the collimating lens B5 and the gluing lens 11 are ideal axes 15, as shown in fig. 2; if the focus lens 8 is adjusted to be coaxial with the other lenses at the position 1, but because the movement axis of the focus motor 6 is not coaxial with the other lenses, when the focus motor 6 moves to the position 2 with the focus lens 8, a phenomenon that the focus lens 8 is not coaxial with the other lenses occurs, as shown in fig. 3.
Therefore, when the focusing lens 8 is mounted, it is necessary to first adjust the movement axis of the focusing motor 6 to be aligned with the other lens axis, and then adjust the focusing lens 8 to be coaxial with the other lens. Based on this, the mounting and adjusting method provided in this embodiment skillfully makes marks on the auxiliary plane mirror surface by means of the auxiliary plane mirror, adjusts the movement axis of the focusing motor 6 to be consistent with other lens axes, and then replaces the plane mirror with the focusing mirror 8 to complete the mounting of the focusing mirror 8. And (3) adjusting other lenses by means of the centering instrument, if the deviation is larger, repairing and grinding the corresponding adjusting piece, adjusting the deviation to be within the design range, and finally completing the whole light path adjustment.
The tuning table adopted by the tuning method is shown in fig. 4, and comprises the following steps: the centering device comprises a supporting platform 1, a turntable 2, a centering device upright post 13 and a centering device eyepiece 12; wherein the supporting platform 1 adopts a marble platform, the turntable 2 adopts a high-precision turntable, and the turntable 2 is placed on the supporting platform 1; the centering instrument upright post 13 is supported on the supporting platform 1, and the centering instrument ocular 12 is arranged on the centering instrument upright post 13, so that the optical axis of the centering instrument ocular 12 coincides with the axis of the revolving shaft of the turntable 2; the centralizer cup 12 can move up and down along the centralizer column 13. The surface of the turntable 2 is provided with a three-degree-of-freedom installation table top which has the degrees of freedom of back and forth, left and right movement and up and down pitching movement in a horizontal plane; let the horizontal direction be X-direction in the horizontal plane as shown in FIG. 4, the front-back direction be Y-direction, and the vertical direction be Z-direction, then three degree of freedom mount table top has the degree of freedom of translation along X-direction, translation along Y-direction and rotation around Y-direction.
As shown in fig. 5, the specific implementation process of the tuning method is as follows:
(1) The optical path shell is vertically placed on the installation table surface of the turntable 2, the inner circumferential surface of the optical path shell is measured by a dial indicator, the turntable 2 is rotated, and if the dial indicator changes, the axis of the optical path shell is not overlapped with the axis of the rotary shaft of the turntable 2; the position of the light path shell on the installation table top is adjusted until the dial indicator number is unchanged when the turntable 2 is rotated, the light path shell axis is indicated to be coincident with the turntable 2 rotating shaft axis, and after the light path shell axis is adjusted to be coincident with the turntable 2 rotating shaft axis, the light path shell is fixed on the installation table top of the turntable 2;
(2) Calculating the positions of spherical center images of all the mirrors according to the design spacing and the design curvature of the collimating mirror A3, the collimating mirror B5, the focusing mirror 8 and the gluing mirror 11 to determine the installation positions of the collimating mirror A3, the collimating mirror B5, the focusing mirror 8 and the gluing mirror 11 in the light path shell;
(3) According to the determined installation position of the collimating lens A3, placing the collimating lens A3 into the light path shell, and moving the centering instrument ocular 12 up and down to adjust the position of the centering instrument ocular 12 until the spherical center image of the collimating lens A3 is clear in the centering instrument ocular 12; then rotating the turntable 2, if the spherical center image of the collimating mirror A3 draws a circle in the centering instrument eyepiece 12, indicating that the installation position of the collimating mirror A3 is unsuitable, namely, an eccentric displacement or/and an eccentric angle exists between the axis of the collimating mirror A3 and the axis of the rotating shaft of the turntable 2, at the moment, adjusting the position or/and the angle of the collimating mirror A3 is needed, and the adjustment of the position or/and the angle of the collimating mirror A3 is realized by adjusting the three-degree-of-freedom installation table surface of the turntable 2 until the spherical center image of the collimating mirror A3 is fixed in the position of the centering instrument eyepiece 12, indicating that the collimating mirror A3 is adjusted to the correct installation position, namely, the axis of the collimating mirror A3 coincides with the axis of the rotating shaft of the turntable 2, dispensing is carried out on the periphery of the collimating mirror A3, and the collimating mirror A3 is fixed in the light path shell, so that the installation and adjustment of the collimating mirror A3 are completed;
(4) After the glue at the periphery of the collimating mirror A3 is dried, an adjusting sleeve A4 is arranged in the light path shell, and the adjusting sleeve A4 is used for ensuring the relative position (interval) between the collimating mirror A3 and the collimating mirror B5;
(5) Putting the collimating lens B5 into the light path shell, enabling the collimating lens A3 and the collimating lens B5 to be respectively positioned at two axial ends of the adjusting sleeve A4, and adjusting the position of the centering instrument eyepiece 12 until the spherical center image of the collimating lens B5 is clear in the centering instrument eyepiece 12; then rotating the turntable 2, if the spherical center image of the collimating lens B5 draws a circle in the centering instrument eyepiece 12, indicating that an eccentric displacement or/and an eccentric angle exists between the axis of the collimating lens B5 and the rotating shaft axis of the turntable 2, at the moment, adjusting the position or/and the angle of the collimating lens B5 until the spherical center image of the collimating lens B5 is in a fixed position in the centering instrument eyepiece 12, indicating that the collimating lens B5 is adjusted to a correct installation position, namely, the axis of the collimating lens B5 coincides with the rotating shaft axis of the turntable 2, dispensing at the periphery of the collimating lens B5, fixing the collimating lens B5 in a light path shell, and completing the installation and adjustment of the collimating lens B5;
wherein the adjustment of the angle (pitch angle) of the collimating mirror B5 is realized by grinding the end face of the adjusting sleeve A4 opposite to the collimating mirror B5; the adjustment of the position of the collimating mirror B5 comprises the adjustment of the position in the X direction and the Y direction, and the position adjustment mode is as follows: on the light path shell, jackscrews are respectively arranged at two ends of the collimating mirror B5X direction and two ends of the collimating mirror Y direction, and the position of the collimating mirror B5 is adjusted by screwing the jackscrews in the offset direction.
(6) In order to ensure that the axis of the focusing lens 8 is always coaxial with other lenses during the whole focusing process, the focusing lens is assembled and adjusted in two steps:
firstly, the motion axis of the focusing motor 6 is adjusted to be coincident with the axis of the revolving shaft of the turntable 2:
a plane reflecting mirror with a mark on a mirror surface is placed at the position of a focusing mirror 8, the mark can be a cross wire, a round mark or marks with other shapes, a focusing motor 6 is a linear motor, the power output end of the focusing motor 6 is connected with the plane reflecting mirror through an adjusting piece 7, and the focusing motor 6 is used for driving the plane reflecting mirror to move up and down; the focusing motor 6 is controlled to drive the plane mirror to reciprocate up and down, and the turntable 2 is fixed; observing in the eye piece 12 of the centering instrument, if the mark on the mirror surface of the plane reflecting mirror is not moved, the movement axis of the focusing motor 6 coincides with the rotation axis of the turntable 2 at the moment; if the mark on the mirror surface of the plane mirror moves along with the up-and-down reciprocating motion of the plane mirror, the movement axis of the focusing motor 6 is not coincident with the rotation axis of the turntable 2, and the movement axis of the focusing motor 6 is adjusted (which can be realized by installing an adjusting gasket at the corresponding position of the power output end of the focusing motor 6 according to the offset direction of the movement axis of the focusing motor 6 relative to the rotation axis) until the mark on the mirror surface observed in the eye piece 12 of the centering instrument is not moved when the plane mirror reciprocates up and down.
And then adjusting the axis of the focusing lens 8 to coincide with the axis of the rotary shaft of the rotary table:
taking down the plane reflecting mirror with the mark, mounting the focusing mirror 8 on the focusing motor 6, rotating the turntable 2, observing the spherical center image of the focusing mirror 8 in the eye piece 12 of the centering instrument, and if the spherical center image of the focusing mirror 8 draws a circle in the eye piece 12 of the centering instrument, indicating that the mounting position of the focusing mirror 8 is not proper, namely that eccentric displacement or/and eccentric angle exists between the axis of the focusing mirror 8 and the rotating shaft of the turntable 2, adjusting the position or/and angle of the focusing mirror 8 is needed until the spherical center image of the focusing mirror 8 is not moved in the eye piece 12 of the centering instrument, indicating that the focusing mirror 8 is adjusted to the correct mounting position, namely that the axis of the focusing mirror 8 coincides with the rotating shaft axis of the turntable 2;
wherein the adjustment of the angle (pitch angle) of the focusing lens 8 is achieved by grinding the end face of the adjusting member 7 opposite to the focusing lens 8; the adjustment of the position of the focusing lens 8 includes an adjustment of the position in the X direction and an adjustment of the position in the Y direction, wherein the adjustment of the position in the Y direction is achieved by adjusting the thickness of the adjustment member 7, and the adjustment of the position in the X direction is achieved by adjusting a connecting screw of the focusing lens 8 and the grinding adjustment member 7 in the X direction.
(7) An adjusting sleeve B10 is arranged in the light path shell, and the adjusting sleeve B10 is used for ensuring the relative position (interval) between the gluing mirror 11 and the collimating mirror B5; placing the bonding lens 11 on the adjusting sleeve B10 in the light path shell (namely, one end of the bonding lens 11 is in contact with the adjusting sleeve B10), and adjusting the position of the centering instrument eyepiece 12 until the spherical center image of the bonding lens 11 is clear in the centering instrument eyepiece 12; then rotating the turntable 2, if the spherical center image of the gluing lens 11 draws a circle in the centering instrument eyepiece 12, indicating that an eccentric displacement or/and an eccentric angle exists between the axis of the gluing lens 11 and the rotating shaft of the turntable 2, at the moment, adjusting the position or/and the angle of the gluing lens 11 until the turntable 2 is rotated, and until the spherical center image of the gluing lens 11 is fixed in the centering instrument eyepiece 12, indicating that the adjustment of the gluing lens 11 is in a correct installation position, namely, the axis of the gluing lens 11 coincides with the rotating shaft of the turntable 2, dispensing at the periphery of the gluing lens 11, and fixing the gluing lens in the light path shell; and finishing the assembly and adjustment of the gluing mirror 11.
Wherein the adjustment of the angle (pitch angle) of the gluing mirror 11 is achieved by grinding the end face of the adjustment sleeve B10 opposite to the gluing mirror 11; the adjustment of the position of the gluing mirror 11 comprises the adjustment of the position in the X direction and the Y direction, and the adjustment mode of the position is as follows: on the light path housing, jackscrews are respectively arranged at two ends of the gluing mirror 11X direction and two ends of the gluing mirror Y direction, and the position of the gluing mirror 11 is adjusted by screwing the jackscrews in the offset direction.
Through the seven steps, the adjustment of the laser radar light path is completed.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (7)
1. A laser radar light path adjustment method is characterized in that: the adjusting table adopted by the adjusting method comprises the following steps: the centering device comprises a supporting platform (1), a turntable (2), a centering instrument upright post (13) and a centering instrument eyepiece (12); the turntable (2) and the centering instrument upright post (13) are fixed on the supporting platform (1); the centering instrument ocular (12) is arranged on the centering instrument upright post (13) so that the optical axis of the centering instrument ocular (12) coincides with the axis of the rotating shaft of the turntable (2); the centering instrument ocular (12) can move up and down along the centering instrument upright post (13); the surface of the turntable (2) is provided with a mounting table board, the left and right directions in a horizontal plane are X directions, the front and back directions are Y directions, the vertical direction is Z directions, and the mounting table board has the degrees of freedom of translation along the X directions, translation along the Y directions and rotation around the Y directions;
the laser radar light path adjustment process comprises the following steps:
step one: the optical path shell is vertically placed on a mounting table top of the turntable (2), and after the axis of the optical path shell is adjusted to coincide with the axis of the revolving shaft of the turntable (2), the optical path shell is fixed on the mounting table top;
step two: calculating the positions of spherical center images of all the mirrors according to the design intervals and the design curvatures of the collimating mirror A (3), the collimating mirror B (5), the focusing mirror (8) and the gluing mirror (11) so as to determine the installation positions of the spherical center images in the light path shell;
step three: adjustment of the collimating mirror A (3):
according to the installation position determined in the second step, the collimating lens A (3) is placed in the light path shell, the centering instrument ocular (12) is moved up and down to adjust the position of the centering instrument ocular (12), and the spherical center image of the collimating lens A (3) can be observed from the centering instrument ocular (12); then rotating the turntable (2), if the spherical center image of the collimating lens A (3) draws a circle in the ocular lens (12) of the centering instrument, indicating that eccentric displacement or/and eccentric angle exists between the axis of the collimating lens A (3) and the axis of the rotating shaft of the turntable (2), and adjusting the position or/and angle of the collimating lens A (3) by adjusting the mounting table top of the turntable (2) until the spherical center image of the collimating lens A (3) is fixed in the ocular lens (12) of the centering instrument when the turntable (2) is rotated; then fixing the collimating lens A (3) in the light path housing;
step four: adjustment of the collimating mirror B (5):
placing the collimating lens B (5) into a light path shell according to the installation position determined in the second step; adjusting the position of a centering instrument ocular (12) to ensure that a spherical center image of the collimating mirror B (5) can be observed from the centering instrument ocular (12); then rotating the turntable (2), if the spherical center image of the collimating lens B (5) draws a circle in the ocular lens (12) of the centering instrument, indicating that eccentric displacement or/and eccentric angle exists between the axis of the collimating lens B (5) and the axis of the rotating shaft of the turntable (2), adjusting the position or/and angle of the collimating lens B (5) until the spherical center image of the collimating lens B (5) is not moved in the ocular lens (12) of the centering instrument when the turntable (2) is rotated, and then fixing the collimating lens B (5) in the light path shell;
step five: mounting and adjusting of a focusing motor (6) and a focusing mirror (8):
firstly, adjusting the motion axis of a focusing motor (6) to coincide with the rotation axis of the turntable (2):
the focusing motor (6) is a linear motor and is used for driving the focusing mirror (8) to move up and down; a plane reflecting mirror with a mark on a mirror surface is arranged at the position of a focusing mirror (8) and is connected with the power output end of a focusing motor (6) through an adjusting piece (7); controlling a focusing motor (6) to drive the plane reflecting mirror to reciprocate up and down, and keeping the turntable (2) motionless; observing in a centering instrument eyepiece (12), if a mark on the plane mirror surface is motionless, indicating that the movement axis of the focusing motor (6) coincides with the rotation axis of the turntable (2); otherwise, adjusting the movement axis of the focusing motor (6) until the mark on the plane mirror surface observed from the eye lens (12) of the centering instrument is not moved when the plane mirror reciprocates up and down;
then, the axis of the focusing lens (8) is adjusted to coincide with the axis of the revolving shaft of the turntable:
taking down a plane reflector, mounting a focusing mirror (8) at a power output end of the focusing motor (6) through an adjusting piece (7), rotating a rotary table (2), observing a spherical center image of the focusing mirror (8) in a centering instrument eyepiece (12), and if the spherical center image of the focusing mirror (8) draws a circle in the centering instrument eyepiece (12), indicating that eccentric displacement or/and an eccentric angle exists between the axis of the focusing mirror (8) and a rotary shaft of the rotary table (2), and adjusting the position or/and the angle of the focusing mirror (8) until the spherical center image of the focusing mirror (8) is not moved in the position of the centering instrument eyepiece (12);
step six: and (3) adjusting the gluing mirror (11):
placing the gluing mirror (11) into a light path housing according to the mounting position determined in the second step; adjusting the position of the centering instrument ocular (12) to ensure that the spherical center image of the bonding mirror (11) can be observed from the centering instrument ocular (12); and then rotating the turntable (2), if the spherical center image of the gluing mirror (11) draws a circle in the centering instrument eyepiece (12), indicating that eccentric displacement or/and an eccentric angle exists between the axis of the gluing mirror (11) and the axis of the rotating shaft of the turntable (2), adjusting the position or/and the angle of the gluing mirror (11) until the spherical center image of the gluing mirror (11) is not moved in the centering instrument eyepiece (12) when the turntable (2) is rotated, and then fixing the gluing mirror (11) in the light path shell.
2. The lidar optical path adjustment method of claim 1, wherein: in the first step, after the light path shell is vertically placed on a mounting table surface of a turntable (2), measuring the inner circumferential surface of the light path shell by using a dial indicator, and rotating the turntable (2), wherein if the dial indicator number changes, the light path shell axis is not coincident with the turntable (2) rotating shaft axis; the position of the light path shell on the installation table surface is adjusted until the dial indicator number is unchanged when the turntable (2) is rotated, and the axis of the light path shell is indicated to coincide with the axis of the rotary shaft of the turntable (2).
3. The lidar optical path adjustment method of claim 1, wherein: an adjusting sleeve A (4) is arranged between the collimating lens A (3) and the collimating lens B (5), and the distance between the collimating lens A (3) and the collimating lens B (5) is ensured through the adjusting sleeve A (4).
4. The lidar optical path adjustment method of claim 3, wherein: in the fourth step, the angle of the collimating lens B (5) is adjusted by grinding the end surface of the adjusting sleeve A (4) opposite to the collimating lens B (5); the adjustment of the position of the collimating lens B (5) comprises the adjustment of the position in the X direction and the Y direction, and the position adjustment mode is as follows: and jackscrews are respectively arranged at the two ends of the X direction and the two ends of the Y direction of the collimating mirror B (5) on the light path shell, and the position of the collimating mirror B (5) is adjusted by screwing the jackscrews in the offset direction.
5. The lidar optical path adjustment method of claim 1, wherein: in the fifth step, the angle of the focusing lens (8) is adjusted by grinding the end surface of the adjusting piece (7) opposite to the focusing lens (8); the adjustment of the position of the focusing lens (8) comprises X-direction and Y-direction position adjustment, wherein the Y-direction position adjustment is realized by adjusting the thickness of the adjusting piece (7), and the X-direction position adjustment is realized by adjusting a connecting screw of the focusing lens (8) and the grinding adjusting piece (7) in the X-direction.
6. The lidar optical path adjustment method of claim 1, wherein: the gluing mirror (11) is mounted inside the light path housing by means of an adjustment sleeve B (10).
7. The lidar optical path adjustment method of claim 6, wherein: in the sixth step, the angle of the gluing mirror (11) is adjusted by grinding the end surface of the adjusting sleeve B (10) opposite to the gluing mirror (11); the adjustment of the position of the gluing mirror (11) comprises the adjustment of the position in the X direction and the Y direction, and the position adjustment mode is as follows: on the light path shell, jackscrews are respectively arranged at the two ends of the X direction and the two ends of the Y direction of the gluing mirror (11), and the position of the gluing mirror (11) is adjusted by screwing the jackscrews in the offset direction.
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| CN100370296C (en) * | 2003-12-16 | 2008-02-20 | 中国科学院光电技术研究所 | Through-axis center alignment method for novel optical system |
| CN101387761B (en) * | 2008-10-08 | 2011-10-12 | 上海微电子装备有限公司 | Center aligning assembling and regulating apparatus and method for optical system |
| CN102607811B (en) * | 2012-03-23 | 2014-10-15 | 中国科学院西安光学精密机械研究所 | System and method for determining optical axis of non-spherical reflector |
| CN102879880B (en) * | 2012-10-11 | 2014-10-22 | 中国科学院光电技术研究所 | Rotating type optical system aligning device and adjusting method thereof |
| CN105629214B (en) * | 2014-10-29 | 2017-11-28 | 北京航天计量测试技术研究所 | A kind of laser radar azimuth axis and light axis consistency method of adjustment |
| CN104567752A (en) * | 2015-01-19 | 2015-04-29 | 复旦大学 | Stray light elimination dual-optical-path optical centering instrument |
| CN106814546B (en) * | 2015-11-30 | 2019-05-31 | 上海微电子装备（集团）股份有限公司 | Focal plane detection device, focal plane scaling method and silicon wafer exposure method |
| CN207763655U (en) * | 2017-12-18 | 2018-08-24 | 中国航空工业集团公司洛阳电光设备研究所 | A kind of rotary axis Radial mixing detecting system |
| CN108437448B (en) * | 2018-02-02 | 2019-12-17 | 深圳摩方新材科技有限公司 | Light path precise adjusting method of micro-nano-sized 3D printing equipment |
| CN108710136B (en) * | 2018-06-19 | 2024-01-05 | 国蓉科技有限公司 | Three-dimensional imaging laser radar transmitting device |
| CN110850549A (en) * | 2019-10-16 | 2020-02-28 | 中国航空工业集团公司洛阳电光设备研究所 | High-precision adjusting method for biaxial symmetric lens |
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