Method and device for adjusting light path of laser projector

Abstract

The invention discloses a laser projector light path adjusting method and device, hardware correction and software correction are combined, in the hardware correction, a light path adjusting assembly and a collimation calibration module are additionally arranged in a projector optical system, the collimation of incident light is adjusted, the position of a two-dimensional galvanometer is calibrated, and the consistency of optical axes is ensured; the CCD is used for capturing actual projection coordinates, the distortion offset is calculated, a dynamic compensation model is generated based on polynomial fitting, galvanometer driving parameters are adjusted through the MCU, and the correction precision is improved. According to the invention, the projection precision of the laser projector can be improved, a calibration tool is assisted, the installation and adjustment efficiency is improved, and compound distortion is avoided to the greatest extent, so that the correction precision is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical projection devices, and particularly relates to an optical path calibration method and device for a laser projector, which is particularly suitable for correcting the composite distortion caused by the assembly deviation of a two-dimensional galvanometer and the scanning process. Background Technique

[0002] A laser projector is a device that integrates optical, electrical, and mechanical systems and uses laser technology for projection. It generates a high-resolution and high-brightness projection effect by using a laser light source and a scanner. Laser projectors are widely used in industrial manufacturing, autonomous driving, geological exploration, and optical medical fields. The core technology of laser scanning is galvanometer scanning. Galvanometer scanning belongs to the opto-mechanical scanning method. By driving the deflection of the reflected light beam through a mechanical device, the laser beam is moved on the scanning field of view, and the surface of the sample can be quickly scanned to obtain high-resolution images or data. The working principle of a two-dimensional galvanometer is as Figure 1 shown.

[0003] However, during the process of commercializing laser projectors, the projected graphics are extremely prone to distortion. The main reasons for the distortion are: the scanning distortion of the two-dimensional galvanometer itself in the laser projector and the distortion caused by the inconsistency between the incident light and the optical axis of the two-dimensional galvanometer. The assembly deviation of the galvanometer optical axis will directly lead to the deviation of the graphic corner and the distortion of the graphic during projection, which seriously affects the accuracy of the shape of the projected graphic. At the same time, even under the ideal assembly angle, the two-dimensional galvanometer will also generate distortion, which is caused by the working principle of the two-dimensional galvanometer. The two can also be combined to form a composite distortion, which will bring great difficulties to the correction technology and process of the product. Therefore, correcting the distortion caused by the two-dimensional galvanometer scanning is of great significance for improving the accuracy of laser scanning.

[0004] The existing correction methods mainly include:

[0005] Vertical target calibration. Its principle is to use a calibration board composed of two-dimensional grids for calibration, collect pictures of the calibration board in different poses, extract the pixel coordinates of the corner points in the pictures, calculate the initial values of the internal and external parameters of the camera through the homography matrix, estimate the distortion coefficients using the nonlinear least squares method, and finally optimize the parameters using the maximum likelihood estimation method. After obtaining the internal parameters, the deviation between the scanned graphic and the ideal graphic can be compensated by software to complete the calibration. This method requires a specific calibration object as a reference during calibration and uses an algorithm after obtaining the homography matrix. During the calibration process, it is necessary to continuously repeat obtaining images of the specific calibration object in different poses. For the calibration accuracy, the images should preferably cover the entire field of view and a large depth range. And if the calibration board is not placed properly, it will cause some parameters or certain parameters in the projector not to obtain unique values, and it is necessary to repeat the calibration every time it is used. Therefore, the vertical target calibration method needs to obtain images of the specific calibration object multiple times, with low efficiency, a complex calibration process, low efficiency, high work intensity, and a large space occupied.

[0006] Software-based distortion correction is based on the scanning geometric formula of the scanning galvanometer. The numerical solution of the deflection angle of the scanning galvanometer is calculated using the steepest descent method, realizing the accurate mapping from the target marking coordinates to the deflection angle of the scanning galvanometer, meeting the requirements of marking processing accuracy, and the correction accuracy is verifiable and controllable through offline simulation. This method is difficult to correct compound distortion based on strict theoretical analysis. Only after obtaining the actual data of the individual scanning galvanometer and establishing the corresponding error correction model through comparison with the theoretical data can a better correction effect be achieved, and the correction effect for compound distortion is poor. Summary of the Invention

[0007] To solve the problems of low calibration efficiency and insufficient compound distortion correction ability in the prior art, a laser projector optical path adjustment method and device are provided. Hardware correction and software correction are combined. In hardware correction, by adding an adjustment optical path component and a collimation and calibration module in the projector optical system, the collimation of the incident light is adjusted and the position of the two-dimensional galvanometer is calibrated to ensure the consistency of the optical axis. In software correction, a CCD is used to capture the actual projection coordinates, the distortion offset is calculated, a dynamic compensation model is generated based on polynomial fitting, and the galvanometer drive parameters are adjusted through an MCU microcontrol unit to improve the correction accuracy. The present invention can improve the projection accuracy of the laser projector, assist the calibration tooling, improve the installation and adjustment efficiency, and avoid compound distortion to the greatest extent, thereby improving the correction accuracy.

[0008] The object of the present invention is achieved through the following technical solutions:

[0009] As the first aspect of the present invention, a laser projector optical path adjustment method is provided, including two parts: hardware installation and adjustment and software correction;

[0010] S1. The hardware correction includes:

[0011] Adding an adjustment optical path component and a collimation and calibration module in the laser projector optical system, and the adjustment optical path component is located in front of the optical path of the collimation and calibration module;

[0012] The adjustment optical path component includes 4 groups of right-angle reflectors, and the pose of each group of right-angle reflectors is adjusted separately; the collimation and calibration module includes an autocollimator and a pentaprism;

[0013] S11. Correct the collimation of the incident light: Before correction, fix the base of the two-dimensional galvanometer, remove the two-dimensional galvanometer, place 1 pentaprism at the same height as the reflected light of the X mirror of the two-dimensional galvanometer. The beam emitted by the laser passes through the adjustment optical path component and the pentaprism in sequence and then enters the autocollimator. Apply the autocollimator, and by adjusting the deflection of the 4 groups of right-angle reflectors in the adjustment optical path component respectively, make the light reach autocollimation before entering the pentaprism and lock the poses of the four right-angle reflectors;

[0014] S12. Calibrate the position of the two-dimensional galvanometer: Remove the pentaprism and fix the two-dimensional galvanometer back onto the base. The beam emitted by the laser passes through the alignment optical path assembly and the two-dimensional galvanometer in sequence and then enters the autocollimator. Using the autocollimator, adjust the pose of the two-dimensional galvanometer so that the outgoing light is collimated and lock the pose of the two-dimensional galvanometer.

[0015] S2. The software correction includes:

[0016] The computer sends a control signal to the MCU microcontrol unit and records the theoretical coordinates. The MCU microcontrol unit controls the scanning signal of the two-dimensional galvanometer. The computer acquires the CCD imaging signal and generates the actual projection coordinates, calculates the distortion amount, and generates a dynamic compensation signal according to the distortion amount.

[0017] Further, the step S11 specifically includes:

[0018] S111. Fix the base of the two-dimensional galvanometer before calibration, remove the two-dimensional galvanometer, place 1 pentaprism at the same height as the reflected light of the X mirror of the two-dimensional galvanometer, and place an autocollimator at the exit of the pentaprism at the same time.

[0019] S112. After the beam emitted by the laser passes through the focusing component, it passes through the alignment optical path assembly and is incident on the pentaprism and exits from the pentaprism, and the outgoing light of the pentaprism is perpendicular to the incident light; after exiting from the pentaprism, it enters the autocollimator.

[0020] S113. Apply the autocollimator and adjust the deflection of the 4 groups of right-angle reflectors in the alignment optical path assembly respectively so that the light is collimated before entering the pentaprism.

[0021] S114. After achieving autocollimation, lock the poses of the four right-angle reflectors to ensure the collimation of the incident light.

[0022] Further, the step S12 specifically includes:

[0023] S121. After completing the collimation correction of the incident light, remove the pentaprism and fix the two-dimensional galvanometer back onto the base; the beam emitted by the laser passes through the focusing component, the alignment optical path assembly, and the two-dimensional galvanometer in sequence and then exits, and then enters the autocollimator.

[0024] S122. Adjust the pose of the two-dimensional galvanometer so that the outgoing light is collimated, and lock the two-dimensional galvanometer on the base.

[0025] Further, the step S2 specifically includes:

[0026] S21. The computer outputs a control signal to the MCU microcontrol unit, controls the scanning signal of the galvanometer through the MCU microcontrol unit, and the computer determines the rotation angles of the X and Y galvanometers and the theoretical projection coordinates at the theoretical angle.

[0027] S22. The MCU microcontroller unit controls the two-dimensional galvanometer scanning signal, and the computer acquires the CCD imaging signal and generates the actual projection coordinates;

[0028] S23. The computer calculates the distortion amount based on the theoretical coordinates and the actual projection coordinates, performs polynomial fitting according to the distortion amount, and generates a dynamic compensation signal;

[0029] S24. The MCU microcontroller unit adjusts the galvanometer drive parameters to complete the software correction of the distortion.

[0030] Further, in the step S23, let the distance between the two galvanometers be e; the distance from the Y-galvanometer to the projection plane be d; the deflection angles of the X and Y galvanometers be θ x and θ y ; the deflection angles of the light beam be α and β; the spot position in the scanning plane be (x, y), then the scanning trajectory formula is:

[0031]

[0032] The solution equation for the angle is:

[0033]

[0034] Taking the X coordinate when the deflection angle of the Y-galvanometer is zero as the reference, its coordinate is always:

[0035] x 0 =(d + e)tanα

[0036] Then the distortion amount Δx = (secβ - 1)d·tanα

[0037] Perform quadratic polynomial fitting on the distortion amounts under the same focal length in the computer to generate a distortion model.

[0038] As the second aspect of the present invention, a laser projector optical path calibration device is also provided, which is used to implement the laser projector optical path calibration method described in the present invention, including a computer, an MCU microcontroller unit, a laser, a focusing component, an optical path assembly for installation and adjustment, a two-dimensional galvanometer module, a collimation and calibration module, and a CCD; the computer is respectively signal-connected to the MCU microcontroller unit and the CCD; the MCU microcontroller unit is respectively signal-connected to the laser, the focusing component, and the two-dimensional galvanometer module; the collimation and calibration module is only used for the hardware installation and adjustment process; the CCD is only used for the software correction process; the optical path assembly for installation and adjustment includes 4 groups of right-angle reflectors, the first and second right-angle reflectors are used to adjust the angle of the incident light in the horizontal direction, and the third and fourth right-angle reflectors are used to adjust the angle of the incident light in the vertical direction; each group of reflectors is separately provided with a rotating platform and a base for the separate pose adjustment of the reflector.

[0039] Further, the mirror is fixed on an optical precision rotary platform, and the rotary platform is threadedly connected to the base.

[0040] The present invention has the following beneficial effects:

[0041] Through the collaborative mechanism of hardware alignment and software calibration, the overall non-linear distortion rate is improved compared with the pure hardware solution and the pure software solution; a laser projector optical path calibration method and device, which combines hardware calibration and software calibration. In hardware calibration, by adding alignment optical path components and collimation calibration modules in the projector optical system, the collimation of the incident light is adjusted and the position of the two-dimensional galvanometer is calibrated to ensure the consistency of the optical axis. In software calibration, the CCD is used to capture the actual projection coordinates, calculate the distortion offset, generate a dynamic compensation model based on polynomial fitting, and adjust the galvanometer drive parameters through the MCU micro-control unit to improve the calibration accuracy. The ideal state of the application and adjustment working hours of the present invention is: 20 ± 5 minutes / unit, and the vertical target calibration requires 100 ± 20 minutes / unit. Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings to be used in the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the content of the embodiments of the present invention and these drawings.

[0043] Figure 1 For the working principle of the two-dimensional galvanometer;

[0044] Figure 2 Schematic diagram of the hardware alignment principle in the embodiment of the present invention;

[0045] Figure 3 Schematic diagram of the alignment optical path components in the embodiment of the present invention;

[0046] Figure 4 Schematic diagram of the working principle of the autocollimator in the embodiment of the present invention;

[0047] Figure 5 Flow chart of the hardware alignment in the embodiment of the present invention;

[0048] Figure 6 Flow of generating and verifying the compensation model of the software calibration in the embodiment of the present invention;

[0049] Figure 7 Schematic diagram of the composition principle of the laser projector optical path calibration device described in Embodiment 2 of the present invention;

[0050] In the figure:

[0051] 1 - Reflector; 2 - Objective lens; 3 - Reticle with crosshair; 4 - Eyepiece; 5 - Prism; 6 - Ground glass; 7 - Light source. Detailed implementation mode

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention.

[0053] Embodiment 1

[0054] This embodiment is a method for adjusting the optical path of a laser projector, which is used to correct the composite distortion of the laser projector. The laser projector applied in this embodiment at least includes a laser, an optical system, and an MCU microcontrol unit. The optical system at least includes a focusing component and a two-dimensional galvanometer module.

[0055] The method for adjusting the optical path of the laser projector in this embodiment includes two parts: hardware installation and adjustment and software correction;

[0056] The hardware correction includes:

[0057] As Figure 2 shown, an installation and adjustment optical path component and a collimation and calibration module are added in the optical system of the laser projector. The installation and adjustment optical path component is located in front of the optical path of the collimation and calibration module;

[0058] The installation and adjustment optical path component includes 4 groups of right-angle reflectors, and the pose of each group of right-angle reflectors can be adjusted independently, as Figure 3 shown; the collimation and calibration module includes an autocollimator and a pentaprism;

[0059] The hardware installation and adjustment process is as Figure 5 shown, and includes:

[0060] S11. Correct the collimation of the incident light:

[0061] S111. Fix the two-dimensional galvanometer base before correction, remove the two-dimensional galvanometer, place 1 pentaprism at the same height as the reflected light of the X mirror of the two-dimensional galvanometer, and place an autocollimator at the exit of the pentaprism at the same time, as Figure 2 shown;

[0062] S112. The beam emitted by the laser passes through the focusing component, then passes through the installation and adjustment optical path component and is incident on the pentaprism and exits from the pentaprism, and the exit light of the pentaprism is perpendicular to the incident light; after exiting from the pentaprism, it enters the autocollimator;

[0063] S113. Apply the autocollimator, and by respectively adjusting the deflection of the 4 groups of right-angle reflectors in the installation and adjustment optical path component, make the light reach autocollimation before entering the pentaprism;

[0064] S114. After achieving autocolimation, lock the poses of the four corner reflectors to ensure the collimation of the incident light.

[0065] S12. Calibrate the position of the two-dimensional galvanometer so that the incident light hits the rotation axis of the X-mirror of the two-dimensional galvanometer to ensure the consistency of the optical axis:

[0066] S121. After completing the collimation correction of the incident light, remove the pentaprism and fix the two-dimensional galvanometer back to the base; the beam emitted by the laser passes through the focusing component, the alignment optical path component, and the two-dimensional galvanometer in sequence and then exits, and then enters the autocollimator;

[0067] S122. Since the poses of the four groups of reflectors have been corrected in step S11, only the pose of the two-dimensional galvanometer needs to be adjusted using the autocollimator in this step. After adjusting the pose of the two-dimensional galvanometer so that the outgoing light first reaches collimation, lock the two-dimensional galvanometer on the base. At this time, the adjustment of the two-dimensional galvanometer can be regarded as completed.

[0068] After the above steps are completed, the distortion of the laser projector caused by the adjustment of the two-dimensional galvanometer has been reduced to the minimum.

[0069] S2. The software correction includes, as Figure 6 shown:

[0070] S21. The computer outputs a control signal to the MCU microcontrol unit, controls the galvanometer scanning signal through the MCU microcontrol unit, and the computer determines the rotation angles of the X and Y galvanometers and the theoretical projection coordinates at the theoretical angle;

[0071] S22. Control the two-dimensional galvanometer scanning signal through the MCU microcontrol unit, and the computer obtains the CCD imaging signal and generates the actual projection coordinates;

[0072] S23. The computer calculates the distortion amount based on the theoretical projection coordinates and the actual projection coordinates, generates a distortion model through polynomial fitting according to the distortion amount, and generates a continuous compensation function according to the distortion model:

[0073] As Figure 1 shown in the coordinate system of the projection plane, let the distance between the two galvanometers be e, the distance from the Y galvanometer to the projection plane be d, and the deflection angles of the X and Y galvanometers be θ x and θ y , the deflection angles of the light beam are α and β, and the spot position in the scanning plane is (x, y). The scanning trajectory formula can be deduced from the geometric mathematical model:

[0074]

[0075] The solution equation for the angle can be obtained:

[0076]

[0077] Taking the X coordinate when the deflection angle of the Y galvanometer is zero as the reference, its coordinate is always:

[0078] x 0 =(d + e)tanα

[0079] Then the distortion amount Δx = (secβ - 1)d·tanα

[0080] Perform quadratic polynomial fitting on the distortion amounts at the same focal length in the computer to generate distortion modeling.

[0081] S24. The MCU micro-control unit generates a compensation signal according to the compensation function, adjusts the galvanometer drive parameters, and completes the software correction of the distortion.

[0082] Embodiment 2

[0083] This embodiment is a device for adjusting the optical path of a laser projector, which is used to implement the method for adjusting the optical path of the laser projector described in Embodiment 1. As Figure 7 shown, the device for adjusting the optical path of the laser projector includes a computer, an MCU micro-control unit, a laser, a focusing component, an optical path assembly for installation and adjustment, a two-dimensional galvanometer module, a collimation and calibration module, and a CCD; the computer is respectively signal-connected to the MCU micro-control unit and the CCD; the MCU micro-control unit is respectively signal-connected to the laser, the focusing component, and the two-dimensional galvanometer module; the collimation and calibration module is only used for the hardware installation and adjustment process; the CCD is only used for the software correction process;

[0084] As Figure 3 shown, the optical path assembly for installation and adjustment includes 4 groups of right-angle reflectors. The first and second right-angle reflectors are used to adjust the angle of the incident light in the horizontal direction, and the third and fourth right-angle reflectors are used to adjust the angle of the incident light in the numerical direction; each group of reflectors is separately provided with a rotating platform and a base for separately adjusting the pose of the reflector.

[0085] In this embodiment, the reflector is fixed on an optical precision rotating platform, and the rotating platform is threadedly connected to the base.

[0086] In this embodiment, the pentaprism includes a 90° angle and two 45° angles. The characteristic of the pentaprism is that light is perpendicularly incident from any surface of the 90° angle, and then reflected by the two 45° angle surfaces, and exits from the other surface of the 90° angle. The angle between the incident light and the exiting light is equal to 90°, that is, the exiting light is perpendicular to the incident light.

[0087] In this embodiment, the working principle of the autocollimator is as Figure 4As shown in the figure, it includes a reflector 1, an objective lens 2, a reticle 3 with cross hairs, an eyepiece 4, a prism 5, a ground glass 6, and a light source 7. The reticle is located at the focal plane of the objective lens. At this time, the light will be emitted parallel and returned by the front reflector, and then converged by the objective lens to form an image on the reticle at its focal plane. If the optical axis of the incident light is completely perpendicular to the plane mirror, the image of the cross hairs formed on the reticle will completely coincide with the original cross hairs; if the optical axis is not completely perpendicular to the plane mirror, the specific deviation size can be read out in the eyepiece.

[0088] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A laser projector optical path calibration method, characterized in that: It includes two parts: hardware adjustment and software calibration; S1. The hardware calibration includes: Adding an optical path adjustment component and a collimation calibration module in the optical system of the laser projector, wherein the optical path adjustment component is located in front of the optical path of the collimation calibration module; The optical path adjustment component includes 4 groups of right-angle reflectors, and each group of right-angle reflectors can adjust their positions independently; the collimation calibration module includes an autocollimator and a pentaprism; S11. Correct the collimation of the incident light: before correction, fix the two-dimensional galvanometer base, remove the two-dimensional galvanometer, and place a pentaprism at the same height as the light reflected by the two-dimensional galvanometer X-mirror. The light beam emitted by the laser passes through the optical path assembly and the pentaprism in sequence and then enters the autocollimator. The autocollimator is used to adjust the deflection of the four groups of right-angle reflectors in the optical path assembly respectively, so that the light reaches self-collimation before entering the pentaprism and locks the positions of the four right-angle reflectors; S12. Calibrate the position of the two-dimensional galvanometer: remove the pentaprism and fix the two-dimensional galvanometer back to the base. The light beam emitted by the laser passes through the optical path assembly and the two-dimensional galvanometer in sequence and then enters the autocollimator. The autocollimator is used to adjust the position of the two-dimensional galvanometer so that the emitted light is collimated and the position of the two-dimensional galvanometer is locked; S2. The software correction includes: The computer sends a control signal to the MCU micro-control unit and calculates the theoretical projection coordinates. The MCU micro-control unit controls the two-dimensional galvanometer scanning signal. The computer obtains the CCD imaging signal and generates the actual projection coordinates, calculates the distortion amount, and generates a dynamic compensation signal according to the distortion amount.

2. A laser projector optical path adjustment method as claimed in claim 1, characterized in that: The step S11 specifically includes: S111. Before calibration, fix the two-dimensional galvanometer base, remove the two-dimensional galvanometer, place a pentaprism at the same height as the light reflected by the two-dimensional galvanometer X-mirror, and place an autocollimator at the exit of the pentaprism; S112. The light beam emitted by the laser passes through the focusing assembly, passes through the light path assembly, and is incident on the pentaprism and emitted from the pentaprism, and the emitted light of the pentaprism is perpendicular to the incident light; after being emitted from the pentaprism, it enters the autocollimator; S113. Using an autocollimator, by adjusting the deflection of four groups of right-angle reflectors in the optical path assembly, the light is self-collimated before entering the pentaprism; S114. After achieving self-collimation, the positions of the four right-angle reflectors are locked to ensure the collimation of the incident light.

3. A laser projector optical path adjustment method as claimed in claim 1, characterized in that: The step S12 specifically includes: S121. After the collimation correction of the incident light is completed, the pentaprism is removed and the two-dimensional galvanometer is fixed back to the base; the light beam emitted by the laser passes through the focusing assembly, the light path assembly, the two-dimensional galvanometer, and then enters the autocollimator; S122. Adjust the position of the two-dimensional galvanometer mirror to collimate the outgoing light, and lock the two-dimensional galvanometer mirror on the base.

4. The laser projector optical path adjustment method according to claim 1, characterized in that: The step S2 specifically includes: S21. The computer outputs a control signal to the MCU microcontroller unit, controls the galvanometer scanning signal through the MCU microcontroller unit, and the computer determines the rotation angle of the X and Y galvanometers and the theoretical projection coordinates under the theoretical angle; S22.MCU microcontroller controls the two-dimensional galvanometer scanning signal, and the computer obtains the CCD imaging signal and generates the actual projection coordinates; S23. The computer calculates the distortion amount according to the theoretical coordinates and the actual projection coordinates, performs polynomial fitting according to the distortion amount, and generates a dynamic compensation signal; S24. Adjust the galvanometer drive parameters through the MCU microcontroller unit to complete the software correction of the distortion.

5. A laser projector optical path adjustment method as claimed in claim 4, characterized in that: In step S23, the distance between the two galvanometer mirrors is set to e; the distance from the Y galvanometer mirror to the projection plane is set to d; the deflection angle of the X and Y galvanometer mirrors is set to θ x and θ y ; The deflection angles of the light beam are α and β; The spot position in the scanning plane is (x, y), then the scanning trajectory formula is: The equation to solve for the angle is: Now take the X coordinate when the Y galvanometer deflection angle is zero as the reference, its coordinate is always: x0=(d+e)tan α Then the distortion Δx=(secβ-1)d·tan α A quadratic polynomial fitting is performed on the computer for the distortion amount at the same focal length to generate distortion modeling.

6. A laser projector optical path adjustment device, used to implement the laser projector optical path adjustment method according to any one of claims 1 to 4, characterized in that: It includes a computer, an MCU micro-control unit, a laser, a focusing component, an adjustment light path component, a two-dimensional galvanometer module, a collimation calibration module and a CCD; the computer is connected to the MCU micro-control unit and the CCD signal respectively; the MCU micro-control unit is connected to the laser, the focusing component and the two-dimensional galvanometer module signal respectively; the collimation calibration module is only used in the hardware adjustment process; the CCD is only used in the software correction process; the adjustment light path component includes 4 groups of right-angle reflectors, the first and second right-angle reflectors are used to adjust the angle of the incident light in the horizontal direction, and the third and fourth right-angle reflectors are used to adjust the angle of the incident light in the numerical direction; each group of reflectors is independently provided with a rotating platform and a base for independent posture adjustment of the reflectors.

7. The laser projector optical path adjustment device according to claim 6, characterized in that: The reflecting mirror is fixed on an optical precision rotating platform, and the rotating platform is threadedly connected to the base.

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