CN116087910A - Automatic alignment system and alignment method for atmospheric detection laser radar light path - Google Patents
Automatic alignment system and alignment method for atmospheric detection laser radar light path Download PDFInfo
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- CN116087910A CN116087910A CN202211608450.XA CN202211608450A CN116087910A CN 116087910 A CN116087910 A CN 116087910A CN 202211608450 A CN202211608450 A CN 202211608450A CN 116087910 A CN116087910 A CN 116087910A
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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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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/48—Laser speckle optics
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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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- Optics & Photonics (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides an automatic alignment system and an automatic alignment method for an atmospheric detection laser radar light path, and relates to the technical field of laser radars. The automatic alignment system for the atmospheric detection laser radar light path comprises a signal judging system, a driving and adjusting system, a motion control unit, a hardware unit and a signal acquisition and analysis system, wherein the motion control unit consists of a controller and an electric driving and guiding device, and the hardware unit consists of an atmospheric detection light source, a beam expanding and collimating system, a reflecting device, a laser radar receiving optical system, a filter and a subsequent optical system. The invention has the advantages of quick response, flexible operation, capability of rapidly completing deployment test on the system, capability of responding to the requirement in a very short time when the optical path calibration is required, flexible operation, capability of actively issuing a calibration optical path instruction or passively developing optical path calibration behaviors by periodically calibrating signal conditions in a set stepping range.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to an automatic alignment system and an alignment method for an atmospheric detection laser radar light path.
Background
The atmospheric laser radar emits a directional light beam parallel to a receiving view field of a telescope into the atmosphere, and performs measurement research on the atmospheric optical characteristics and the space-time distribution of particles by analyzing a back scattering echo signal of atmospheric molecules or particles and the action of laser. However, in practical applications, the laser radar may cause space-time errors and detection errors of the received echo signals due to the ambient temperature, the working mode of the laser, the instability of the fixed optical elements, and the directivity shift of the emitted light beam caused by the random vibration of the radar applied to the vehicle or other motion platforms.
Remote motorized adjustment of the emitted beam has some simple applications in lidar, but its light path adjustment is still dependent on remote control and subjective adjustment operations by the operator, and it is difficult to avoid occasional errors in the system. Therefore, the rapid and accurate automatic calibration of the optical path and the guarantee of the long-term stable operation of the laser radar are significant works.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides an automatic alignment system and an alignment method for an atmospheric detection laser radar light path, which solve the problems that the light path adjustment still depends on remote control and subjective adjustment operation of operators, and accidental errors of the system are difficult to avoid.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the automatic alignment system for the light path of the atmosphere detection laser radar comprises a signal judging system, a driving and adjusting system, a motion control unit, a hardware unit and a signal acquisition and analysis system, wherein the motion control unit consists of a controller and an electric driving and guiding device, and the hardware unit consists of an atmosphere detection light source, a light beam expanding and collimating system, a reflecting device, a laser radar receiving optical system, a filter and a subsequent optical system;
the laser emission probe of the atmosphere detection light source is connected with the beam expansion and collimation system, the beam emission end of the beam expansion and collimation system is connected with the light receiving hole of the electric driving guide device, the light emission hole of the electric driving guide device is aligned with the reflecting device, the reflecting device acts on the laser radar receiving optical system, the light emitting hole of the laser radar receiving optical system is connected with the filter, the light of the filter acts on the subsequent optical system, the subsequent optical system is in signal connection with the data acquisition and analysis system, and the data acquisition and analysis system is in signal connection with the signal judgment system.
Preferably, the signal determination system is in signal connection with a drive control system, which is in signal connection with a controller, which is in signal connection with the electric drive guide.
An aligning method of an atmosphere detection laser radar light path automatic aligning system comprises the following specific steps:
the method comprises the steps that firstly, a light source is emitted by an atmosphere detection light source, a beam expansion collimation system is used for compressing a compressed beam divergence angle to meet the requirement of a telescope for receiving an angle of view, and then the compressed beam divergence angle is coaxially emitted into the atmosphere by an electric driving guide device and a reflecting device;
step two, the echo signals coaxially emitted to the atmosphere by the electric driving guide device and the reflecting device are received by a laser radar receiving optical system, and then the scattered light beams are restrained by a filter;
step three, the light beam restrained by the filter is subjected to specific detection counting processing by a subsequent optical system and a signal acquisition and analysis system;
judging whether the signal acquisition curve after the detection and counting processing of the signal acquisition and analysis system meets the judging requirement or not through the signal judgment system, judging the optimal receiving and transmitting system light path through the signal acquisition curve, and uploading the optimal receiving and transmitting system light path to the driving adjustment system;
the signal acquisition curve baseIn TOF principle, the X-axis is set as the time of flight t 0 According to the self-calibration requirement of the laser radar system,
the vertical axis is the Y axis which is c, wherein c is the two-dimensional angle position recorded by the current electric driving guiding device, the driving adjusting system selects all positions in the matrix of X axis and Y axis plus or minus 5 stepping distances, and the signal acquisition and analysis system (8) acquires the position in the abscissa t 0 When all the counting rates c are equal, the maximum value c is selected max The number of the +/-5 stepping distances is selected, an automatic calibration light path system of the laser radar comprehensively considers the response time and the precision and stability of the electric driving guide device (3), and the +/-5 stepping distances are selected to be optimal;
and fifthly, driving the adjusting system to control the controller according to the optimal light path of the receiving and transmitting system, and regulating and controlling the electric driving guide device to an optimal angle by the controller.
Preferably, the beam expansion and collimation system controls the divergence angle of the emission light source of the atmosphere detection light source within 0.4 mrad.
Preferably, the electrically driven guide device comprises an electrically driven adjustment bracket and a mirror, and the mirror is adjusted by the electrically driven adjustment bracket.
Preferably, the reflecting device is one of a right-angle prism or a 45-degree total reflecting mirror, the reflecting mirror is fixed at a position coaxial with the optical axis of the laser radar receiving optical system, the incident surface direction faces the electric driving guiding device, and the film coating reflectivity of the lens is higher than 98%.
Preferably, the filter is circular in shape and is larger than the imaging limit of the telescope.
(III) beneficial effects
The invention provides an automatic alignment system and an alignment method for an atmospheric detection laser radar light path.
The beneficial effects are as follows:
1. the invention has the advantages of quick response, flexible operation, capability of rapidly completing deployment test on the system, capability of responding to the requirement in a very short time when the optical path calibration is required, flexible operation, capability of actively issuing a calibration optical path instruction or passively developing optical path calibration behaviors by periodically calibrating signal conditions in a set stepping range.
2. The invention has strong adaptability, can accurately calibrate the light path result meeting the detection quality of the laser radar signal under the condition of inconvenient manual intervention of vehicle-mounted, ship-borne, airborne and the like, can be suitable for atmospheric detection work under various complex environments, has good reliability and high precision, and avoids system accidental errors caused by manual subjective operation through computer algorithm logic discrimination in the whole process operation.
Drawings
FIG. 1 is a schematic diagram of a system architecture of an atmospheric detection lidar light path auto-alignment system according to the present invention;
fig. 2 is a graph of signal acquisition.
Wherein, 1, atmosphere detects the light source; 2. a beam expansion and collimation system; 3. an electric drive guide; 4. a reflecting device; 5. a lidar receiving optical system; 6. a filter; 7. a subsequent optical system; 8. a signal acquisition and analysis system; 9. a signal determination system; 10. driving an adjustment system; 11. and a controller.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
as shown in fig. 1-2, an embodiment of the present invention provides an automatic alignment system for an atmospheric detection laser radar light path, which includes a signal determination system 9, a driving adjustment system 10, a motion control unit, a hardware unit and a signal acquisition and analysis system 8, wherein the motion control unit is composed of a controller 11 and an electric driving guiding device 3, and the hardware unit is composed of an atmospheric detection light source 1, a beam expansion collimation system 2, a reflection device 4, a laser radar receiving optical system 5, a filter 6 and a subsequent optical system 7.
The electric driving guiding device 3 consists of an electric driving adjusting frame and a reflecting mirror, the reflecting mirror is adjusted by the electric driving adjusting frame, the reflecting device 4 is one of a right-angle prism or a 45-degree total reflecting mirror, the reflecting mirror 4 is fixed at a position coaxial with the optical axis of the laser radar receiving optical system 5, the incident surface direction faces the electric driving guiding device 3, and the coating reflectivity of the lens is higher than 98%.
The laser emission probe of the atmosphere detection light source 1 is connected with the beam expansion and collimation system 2, the beam emission end of the beam expansion and collimation system 2 is connected with the light receiving hole of the electric driving guiding device 3, the light emission hole of the electric driving guiding device 3 is aligned with the reflecting device 4, the reflecting device 4 acts on the laser radar receiving optical system 5, and the light emitting hole of the laser radar receiving optical system 5 is connected with the filter 6.
The shape of the filter 6 is circular, the size is larger than the imaging limit of the telescope, the filter is used for controlling the light spot size of a light beam and limiting the superfluous stray light to enter a telescopic receiving system, the light of the filter 6 acts on a subsequent optical system 7, the subsequent optical system 7 is in signal connection with a data acquisition and analysis system 8, the data acquisition and analysis system 8 is in signal connection with a signal judgment system 9, the signal judgment system 9 is in signal connection with a drive adjusting system 10, the drive adjusting system 10 is in signal connection with a controller 11, and the controller 11 is in signal connection with an electric drive guiding device 3.
Embodiment two:
an aligning method of an atmosphere detection laser radar light path automatic aligning system comprises the following specific steps:
the method comprises the steps that firstly, a light source is emitted by an atmosphere detection light source 1, a beam expansion collimation system 2 compresses a compressed beam divergence angle to meet the requirement of a telescope for receiving an angle of view, and then the compressed beam is coaxially emitted to the atmosphere by an electric driving guide device 3 and a reflecting device 4, and the beam expansion collimation system 2 controls the angle of divergence of the light source emitted by the atmosphere detection light source 1 within 0.4mrad, so that the requirement of the angle of view of a laser radar receiving optical system is met;
step two, echo signals coaxially emitted to the atmosphere by the electric driving guiding device 3 and the reflecting device 4 are received by the laser radar receiving optical system 5, and then stray light beams are restrained by the filter 6;
step three, the light beam restrained by the filter 6 is subjected to specific detection counting processing by a subsequent optical system 7 and a signal acquisition and analysis system 8;
judging whether the signal acquisition curve detected and counted by the signal acquisition and analysis system 8 meets the judging requirement or not through the signal judgment system 9, judging the optimal transceiving system light path through the signal acquisition curve, and uploading the optimal transceiving system light path to the driving adjustment system 10;
the signal acquisition curve is based on TOF principle, and the horizontal axis, namely the X axis, is set as the flight time t 0 According to the self-calibration requirement of the laser radar system,
the vertical axis, i.e. the Y axis, is c, wherein c is the two-dimensional angular position recorded according to the current electric driving guide device 3, the driving adjustment system 10 selects the X axis and the Y axis to have positions in a matrix of +/-5 stepping distances, and the signal acquisition and analysis system (8) acquires the position in the abscissa t 0 When there is a counting rate c, selecting the maximum value c max The number of the +/-5 stepping distances is selected, an automatic calibration light path system of the laser radar comprehensively considers the response time and the precision and stability of the electric driving guide device (3), and the +/-5 stepping distances are selected to be optimal;
extracting the text of the signal data transmitted by the signal acquisition and analysis system 8 on the abscissa t 0 Ordinate value of position, maximum value c is screened by matrix max Then feeding back to the driving adjustment system 10, the controller 11 and the electric driving guide device 3 to find the optimal angle position;
and fifthly, the driving and adjusting system 10 controls the controller 11 according to the optimal light path of the receiving and transmitting system, and the controller 11 regulates and controls the electric driving and guiding device 3 to an optimal angle.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The automatic alignment system for the atmospheric detection laser radar light path is characterized by comprising a signal judging system (9), a driving adjusting system (10), a motion control unit, a hardware unit and a signal acquisition and analysis system (8), wherein the motion control unit consists of a controller (11) and an electric driving guide device (3), and the hardware unit consists of an atmospheric detection light source (1), a light beam expanding and collimating system (2), a reflecting device (4), a laser radar receiving optical system (5), a filter (6) and a subsequent optical system (7);
the laser emission probe of the atmosphere detection light source (1) is connected with the beam expansion and collimation system (2), the beam emission end of the beam expansion and collimation system (2) is connected with the light receiving hole of the electric driving guide device (3), the light emission hole of the electric driving guide device (3) is aligned with the reflecting device (4), the reflecting device (4) acts on the laser radar receiving optical system (5), the light emitting hole of the laser radar receiving optical system (5) is connected with the filter (6), the light of the filter (6) acts on the subsequent optical system (7), the subsequent optical system (7) is in signal connection with the data acquisition and analysis system (8), and the data acquisition and analysis system (8) is in signal connection with the signal judgment system (9).
2. An atmospheric detection lidar optical path automatic alignment system according to claim 1, wherein the signal determination system (9) is in signal connection with a drive adjustment system (10), the drive adjustment system (10) is in signal connection with a controller (11), and the controller (11) is in signal connection with an electric drive guide (3).
3. An alignment method of an automatic alignment system of an atmospheric detection laser radar light path is characterized by comprising the following specific steps:
the method comprises the steps that firstly, a light source is emitted through an atmosphere detection light source (1), a beam expansion and collimation system (2) compresses a compressed beam divergence angle to meet the requirement of a telescope for receiving an angle of view, and then the compressed beam divergence angle is coaxially emitted into the atmosphere through an electric driving guide device (3) and a reflecting device (4);
step two, echo signals coaxially emitted to the atmosphere by the electric driving guiding device (3) and the reflecting device (4) are received by the laser radar receiving optical system (5), and then stray light beams are restrained by the filter (6);
step three, the light beam restrained by the filter (6) is subjected to specific detection counting processing by a subsequent optical system (7) and a signal acquisition and analysis system (8);
judging whether the signal acquisition curve after detection and counting processing of the signal acquisition and analysis system (8) meets the judging requirement or not through the signal judgment system (9), judging the optimal light path of the receiving and transmitting system through the signal acquisition curve, and uploading the light path to the driving adjustment system (10);
the signal acquisition curve is based on TOF principle, and the transverse axis, namely the X axis, is set as the flight time t 0 According to the self-calibration requirement of the laser radar system,
the vertical axis is the Y axis which is c, wherein c is the two-dimensional angle position recorded by the current electric driving guiding device (3), the driving adjusting system (10) selects all positions in the matrix of +/-5 stepping distances of the X axis and the Y axis, and the signal acquisition and analysis system (8) acquires the position in the horizontal coordinate t 0 When all the counting rates c are equal, the maximum value c is selected max The number of the +/-5 stepping distances is selected, an automatic calibration light path system of the laser radar comprehensively considers the response time and the precision and stability of the electric driving guide device (3), and the +/-5 stepping distances are selected to be optimal;
and fifthly, controlling a controller (11) by the driving and adjusting system (10) according to the optimal transceiving system optical path, and regulating and controlling the electric driving and guiding device (3) to an optimal angle by the controller (11).
4. A method for aligning an automatic optical path alignment system for an atmospheric detection laser radar according to claim 3, wherein the beam expansion and collimation system (2) controls the divergence angle of the emission light source of the atmospheric detection light source (1) within 0.4 mrad.
5. An atmospheric detection lidar optical path automatic alignment system according to claim 1, wherein the electrically driven guide means (3) is composed of an electrically driven adjustment frame and a reflecting mirror, and the reflecting mirror is adjusted by the electrically driven adjustment frame.
6. The automatic optical path alignment system for atmospheric detection laser radar according to claim 1, wherein the reflecting device (4) is one of a right-angle prism or a 45-degree total reflecting mirror, the reflecting mirror (4) is fixed at a position coaxial with the optical axis of the laser radar receiving optical system (5), the incident surface is opposite to the electric driving guiding device (3), and the reflectivity of the lens coating is higher than 98%.
7. An atmospheric detection lidar optical path automatic alignment system according to claim 1, wherein the filter (6) is circular in shape and larger in size than the imaging limit of the telescope.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116275476A (en) * | 2023-05-10 | 2023-06-23 | 安徽中科光仪科技有限公司 | Active alignment method and device for laser light path |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116275476A (en) * | 2023-05-10 | 2023-06-23 | 安徽中科光仪科技有限公司 | Active alignment method and device for laser light path |
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