CN112596041A - Coaxial adjusting device and method for transmitting and receiving system of paraxial laser radar system - Google Patents
Coaxial adjusting device and method for transmitting and receiving system of paraxial laser radar system Download PDFInfo
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- CN112596041A CN112596041A CN202011544749.4A CN202011544749A CN112596041A CN 112596041 A CN112596041 A CN 112596041A CN 202011544749 A CN202011544749 A CN 202011544749A CN 112596041 A CN112596041 A CN 112596041A
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- laser radar
- paraxial
- receiving
- transmitting
- adjusted
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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
- G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
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- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a coaxial adjusting device and an adjusting method for a transmitting and receiving system of a paraxial laser radar system, wherein the device comprises a fixed base, an absorption type optical attenuation sheet, a turning structure and black diffuse reflection cloth.
Description
Technical Field
The invention relates to a laser radar, in particular to a coaxial adjusting device and method for a transmitting and receiving system of a paraxial laser radar system.
Background
The laser radar has the advantages that the energy and the distance of a laser radar receiving system are in inverse proportion, the receiving optical system is easy to receive stray light interference of near diffuse reflection, and the transmitting light path can occupy a part of receiving caliber. Correspondingly, the transmitting optical path and the receiving optical path are arranged on two mutually parallel lines, the optical axes of the transmitting optical path and the receiving optical path are not overlapped but parallel, the optical system is called a paraxial optical system, the problems of interference of nearby stray light and occupation of the receiving optical path by the transmitting optical path are well solved, but the received optical signal energy is very small due to the fact that the two optical axes are not overlapped at the nearby part, so that the signal energy is very small and even the situation that the laser radar cannot measure the target with low reflectivity at a short distance can be caused. By adjusting the optical positions of receiving and transmitting, the near signal energy can be adjusted to a proper value, but adjusting the near signal energy can affect the far signal energy, so that the adjustment needs to be repeated for many times until a position is found, and the energy of the near and far receiving signals reaches a satisfactory value. Therefore, the steps are complicated, errors are easy to cause, and the method is not suitable for batch production.
Disclosure of Invention
The invention provides a coaxial adjusting device and method for a paraxial laser radar system transmitting and receiving system, aiming at solving the problems that the coaxial adjusting steps of the laser transmitting and receiving system of the traditional paraxial laser radar system are complicated and the satisfactory degree of laser receiving signal energy can be hardly achieved at both short distance and long distance.
The technical solution of the invention is as follows:
the utility model provides a coaxial adjusting device of paraxial lidar system transmission and receiving system which characterized in that, includes unable adjustment base, absorption type optical attenuation piece, turns over structure and black diffuse reflection cloth, the structure of turning over set up unable adjustment base's the place ahead, this structure of turning over be a perpendicular to unable adjustment base's bottom surface 90 degrees rotatory structures, structural fixed absorption type optical attenuation piece in this turning over, black diffuse reflection cloth set up as the test target unable adjustment base's distant place, black diffuse reflection cloth with unable adjustment base between distance L more than 3.2 meters.
The coaxial adjusting method of the transmitting system and the receiving system of the paraxial laser radar system by utilizing the coaxial adjusting device of the transmitting system and the receiving system of the paraxial laser radar system comprises the following steps:
1) placing and fixing a paraxial laser radar system to be adjusted on the fixed base, wherein a detection beam of the paraxial laser radar system to be adjusted points to the black diffuse reflection cloth, the absorption type optical attenuation sheet is moved out of the detection beam of the paraxial laser radar system to be adjusted through the rotation of the turning structure, and the paraxial laser radar system to be adjusted is started;
2) adjusting the position of a detector of a receiving optical system of the paraxial laser radar system to be adjusted, and finding out the maximum value of signal energy receiving, wherein the field of view of the receiving optical system and the field of view of the transmitting optical system can be approximately regarded as containing;
3) if the electric signal received by the receiving optical system of the paraxial laser radar system to be adjusted is in a saturated state and is inconvenient to adjust, the optical attenuation sheet is moved into the detection beam through the folding structure, so that the cross section of the detection beam is ensured to be covered;
4) and continuously adjusting the position of a detector of the receiving optical system of the paraxial laser radar system to be adjusted, and finishing the coaxial adjustment of the transmitting system and the receiving system of the laser radar system when the energy of the signal received by the receiving optical system of the paraxial laser radar system to be adjusted is the maximum value.
The working principle experiment of the invention is as follows:
1. the receiving optical system and the transmitting optical system are combined into an ideal paraxial system, namely the receiving optical path is parallel to the transmitting optical path. Because the detector of the receiving system cannot emit light, the simulated detector is used for simulating the light source emitted by the detector, so that the light spot of the simulated detector can be coincided with the light spot emitted by the emitting light source on the receiving screen on the collimator, and the receiving and transmitting state can be considered as an ideal paraxial system.
2. An ideal paraxial system is installed on equipment, then the equipment is placed on an equipment fixing seat, and a piece of black diffuse reflection cloth is prepared, wherein the black diffuse reflection cloth has the function of enabling the reflectivity of the black diffuse reflection cloth to be approximate when the black diffuse reflection cloth is incident on a target at different angles.
3. In an ideal paraxial system, the light paths at the near part of the receiving optical system and the transmitting optical system are not coincident, and the two fields of view are separated from each other to be tangent, then are intersected and finally are contained from near to far from the near field of view. At a near place, because the receiving optical system and the emitting optical system have separated fields of view, the detector of the receiving system is difficult to receive the main energy reflected from the light emitting optical path, the fields of view are tangent, the detector of the receiving system can only receive partial energy reflected from the light emitting optical path, and only when the receiving field of view contains the light emitting field, the detector of the receiving system can completely receive the main energy from the light emitting optical path. Therefore, the coincidence degree of the visual fields of the near and far transceiving optical systems can be considered by a method of enabling the receiving optical system and the transmitting optical system to coincide in advance, the specific operation is to select a position which is far from the receiving optical system and is far from the receiving optical system as an infinite position, place black diffuse reflection cloth, and find the maximum value of signal energy receiving at the position by adjusting the position of a detector of the receiving optical system, at the moment, the visual fields of the receiving optical system and the transmitting optical system can be seen as being contained in the near vision, and then the visual fields of the receiving optical system and the transmitting optical system are slightly deviated in the far position, but the vast majority of.
The invention has the following beneficial effects:
the coaxial adjusting method can simplify the coaxial adjusting steps of the laser transmitting and receiving system of the paraxial laser radar system, so that the energy of the signals received by the paraxial laser radar system can reach a satisfactory degree at both short distance and long distance, and the efficiency and consistency of batch production are improved.
Drawings
FIG. 1 is a schematic view of a coaxial adjustment device of a transmitting and receiving system of a paraxial lidar system of the present invention, with an absorption-type optical attenuator in an open state;
FIG. 2 is a state where the absorption type optical attenuation sheet is closed;
FIG. 3 is a schematic view of the transmitting and receiving system of paraxial lidar system of the present invention with the fields of view from near to far, i.e., the two fields of view are from phase to phase, then to phase, and finally to inclusion
Detailed Description
The invention is described in detail below with reference to the drawings and examples, but the scope of the invention should not be limited thereto.
Referring to fig. 1 and 2, fig. 1 is a schematic structural view of a coaxial adjusting device of a transmitting and receiving system of a paraxial lidar system of the present invention, wherein an absorption-type optical attenuation sheet is in an open state; fig. 2 shows a state where the absorption-type optical attenuation sheet is closed. As can be seen from the figure, the coaxial adjusting device of the paraxial laser radar system transmitting and receiving system comprises: unable adjustment base 4, absorption type optical attenuation piece 3, refraction structure 2, black diffuse reflection cloth 5, the setting of refraction structure 2 be in unable adjustment base 4 the place ahead, this refraction structure 2 be a perpendicular to unable adjustment base 4's bottom surface 90 degrees rotatory structures, fix on this refraction structure 2 absorption type optical attenuation piece 3, black diffuse reflection cloth 5 set up as the test target unable adjustment base 4's distant place, black diffuse reflection cloth 5 with unable adjustment base 4 between distance L more than 3.2 meters.
The coaxial adjusting method of the transmitting system and the receiving system of the paraxial laser radar system by utilizing the coaxial adjusting device of the transmitting system and the receiving system of the paraxial laser radar system comprises the following steps:
1) placing and fixing the paraxial laser radar system 1 to be adjusted on the fixed base 4, wherein the detection light beam of the paraxial laser radar system 1 to be adjusted points to the black diffuse reflection cloth 5, the absorption type optical attenuation sheet 3 is moved out of the detection light beam (shown in figure 1) of the paraxial laser radar system 1 to be adjusted through the rotation of the folding structure 2, and the paraxial laser radar system 1 to be adjusted is started;
2) adjusting the position of a detector of a receiving optical system of the paraxial laser radar system 1 to be adjusted, and finding out the maximum value of signal energy receiving, wherein the fields of view of the receiving optical system and the transmitting optical system can be approximately regarded as containing;
3) if the electrical signal received by the receiving optical system of the paraxial laser radar system 1 to be adjusted is in a saturated state and is inconvenient to adjust, the optical attenuation sheet 3 is moved into the detection beam (as shown in fig. 2) through the folding structure 2, so as to ensure that the cross section of the detection beam is covered;
4) and continuously adjusting the position of a detector of the receiving optical system of the paraxial laser radar system 1 to be adjusted, and completing the coaxial adjustment of the transmitting system and the receiving system of the laser radar system when the energy of the signal received by the receiving optical system of the paraxial laser radar system 1 to be adjusted is the maximum value.
The embodiment of the coaxial adjusting method of the transmitting system and the receiving system of the paraxial laser radar system comprises the following steps:
1) placing and fixing the paraxial laser radar system 1 to be adjusted on the fixed base 4;
2) positioning said black diffuse reflection arrangement 5 at a position substantially closer than 13 meters, typically 0.2-0.4 times the distance from the remote position, here 3.5 meters, at which the received signal energy is found to be the maximum by adjusting the detector position of the receiving optical system of said paraxial lidar system 1 to be adjusted, at which the receiving optical system and the transmitting optical system field of view can be approximately seen as inclusive (as shown in fig. 3);
3) if the displayed electric signal received by the receiving optical system of the paraxial laser radar system 1 to be adjusted is in a saturated state and is inconvenient to adjust, the optical attenuation sheet is moved into the light path through the turning structure to ensure that the cross section of the light path is covered (as shown in fig. 2);
4) and continuously adjusting the position of a detector of the receiving optical system of the paraxial laser radar system 1 to be adjusted, wherein when the energy of the signal received by the receiving optical system of the laser radar system is the maximum value, the transmitting system and the receiving system of the paraxial laser radar system 1 to be adjusted are coaxial.
Experiments show that the method can shorten repeated adjusting steps into one-time adjustment, greatly improve the working efficiency and improve the efficiency and consistency of batch production.
Claims (2)
1. An adjustment device for coaxiality of a transmitting and receiving system of a paraxial lidar system, comprising: unable adjustment base (4), absorption type optical attenuation piece (3), refraction structure (2) and black diffuse reflection cloth (5), refraction structure (2) set up the place ahead of unable adjustment base (4), this refraction structure (2) be a perpendicular to the structure of the 90 degrees rotations in bottom surface of unable adjustment base (4), fix on this refraction structure (2) absorption type optical attenuation piece (3), black diffuse reflection cloth (5) set up as the test target the distant place of unable adjustment base (4), black diffuse reflection cloth (5) with unable adjustment base (4) between the distance be more than 3.2 meters.
2. A method for adjusting the coaxiality of a transmitting system and a receiving system of a paraxial lidar system by using the device for adjusting the coaxiality of the transmitting and receiving systems of the paraxial lidar system of claim 1, the method comprising the steps of:
1) placing and fixing a paraxial laser radar system (1) to be adjusted on the fixed base (4), wherein a detection beam of the paraxial laser radar system (1) to be adjusted points to the black diffuse reflection cloth (5), the absorption type optical attenuation sheet (3) is moved out of the detection beam of the paraxial laser radar system (1) to be adjusted through the rotation of the turning structure (2), and the paraxial laser radar system to be adjusted is started;
2) adjusting the position of a detector of a receiving optical system of the paraxial laser radar system (1) to be adjusted, and finding out the maximum value of signal energy receiving, wherein the fields of view of the receiving optical system and the transmitting optical system can be approximately seen as containing;
3) if the electric signal received by the receiving optical system of the paraxial laser radar system (1) to be adjusted is in a saturated state and is inconvenient to adjust, the optical attenuation sheet (3) is moved into the detection beam through the folding structure (2) to ensure that the cross section of the detection beam is covered;
4) and continuously adjusting the position of a detector of a receiving optical system of the paraxial laser radar system (1) to be adjusted, and completing the coaxial adjustment of a transmitting system and a receiving system of the laser radar system when the received signal energy of the receiving optical system of the paraxial laser radar system (1) to be adjusted is the maximum value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011544749.4A CN112596041A (en) | 2020-12-24 | 2020-12-24 | Coaxial adjusting device and method for transmitting and receiving system of paraxial laser radar system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011544749.4A CN112596041A (en) | 2020-12-24 | 2020-12-24 | Coaxial adjusting device and method for transmitting and receiving system of paraxial laser radar system |
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| CN112596041A true CN112596041A (en) | 2021-04-02 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023123984A1 (en) * | 2021-12-30 | 2023-07-06 | 上海禾赛科技有限公司 | Optical transceiving module and laser radar |
| CN117192516A (en) * | 2023-07-28 | 2023-12-08 | 探维科技(苏州)有限公司 | Laser radar light path adjusting method and related equipment thereof |
-
2020
- 2020-12-24 CN CN202011544749.4A patent/CN112596041A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023123984A1 (en) * | 2021-12-30 | 2023-07-06 | 上海禾赛科技有限公司 | Optical transceiving module and laser radar |
| CN117192516A (en) * | 2023-07-28 | 2023-12-08 | 探维科技(苏州)有限公司 | Laser radar light path adjusting method and related equipment thereof |
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