Laser radar optical performance comprehensive detection device and method

Abstract

The invention provides a laser radar optical performance comprehensive detection device and method, relates to the technical field of laser radar detection, and aims to solve the technical problems of single test function, insufficient universality and low test efficiency in the prior art. The device comprises a collimator objective lens used for focusing a laser light source emitted by a laser radar system; the spectroscope is used for dividing a light path of the collimator objective lens into two orthogonal conjugate focal planes; the charge-coupled device detector is arranged at the position of one conjugate focal plane and is used for receiving the laser light source focused by the collimator objective lens; the test laser light source is arranged at the position of the other conjugate focal plane and is used for generating a laser light source with the wavelength consistent with that of the laser radar system so as to simulate laser echoes at infinity; wherein the test laser light source is configured to move along the corresponding conjugate focal plane, and the optical performance of the laser radar system can be comprehensively detected by adjusting the moving position of the test laser light source.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser radar detection, more particularly, to a laser radar optical performance comprehensive detection device and method. BACKGROUND

[0002] Laser radars are widely used in the fields of spaceflight, automatic driving, surveying and mapping, etc., and therefore, efficient and high-precision comprehensive detection and evaluation of the optical performance of the laser radars is an indispensable link in the current laser radar equipment testing and adjustment.

[0003] In the development and production process of laser radars, the evaluation and testing of the following four optical performance indexes are mainly performed: laser radar optical axis parallelism detection, laser divergence angle testing, laser radar instantaneous receiving field of view, and laser radar scanning field of view angle.

[0004] The existing technology does not have a device and method for simultaneously performing comprehensive evaluation of the above optical indexes, and the existing technology devices and methods close to the present application can only test the laser optical axis parallelism and the laser divergence angle. The existing technology methods for testing the optical axis parallelism include a four-quadrant detector optical axis parallelism testing method, an optical reverse device optical axis parallelism testing method, and a light-emitting diode (LED) assisted light illumination charge coupled device (CCD) imaging parallelism testing method. However, the above methods all have defects such as single testing function, insufficient universality, and insufficient testing efficiency. SUMMARY

[0005] In view of this, the present application provides a laser radar optical performance comprehensive detection device and method, aiming to solve the technical problems of the single testing function, insufficient universality, and low testing efficiency of the existing technology.

[0006] One aspect of the present application provides a laser radar optical performance comprehensive detection device, comprising: a collimator objective lens for focusing a laser light source emitted by a laser radar system; a beam splitter for splitting the optical path of the collimator objective lens into two orthogonal conjugate focal planes; a charge coupled device (CCD) detector arranged at a position corresponding to one of the conjugate focal planes, for receiving the laser light source focused by the collimator objective lens and forming a light spot at a target center position; and a test laser light source arranged at a position corresponding to the other conjugate focal plane, for generating a laser light source consistent with the wavelength of the laser radar system, the laser light source generated by the test laser light source being capable of being focused by the collimator objective lens to the laser radar system, thereby simulating a laser echo at an infinite distance; wherein the test laser light source is configured to be movable along the corresponding conjugate focal plane, and the optical performance of the laser radar system is comprehensively detected by adjusting the position of the test laser light source.

[0007] According to an embodiment of the present application, the laser radar system comprises: a transmitting system for transmitting a laser light source; and a receiving system for receiving a laser echo simulated by the test laser light source.

[0008] According to an embodiment of the present application, the device further comprises: a three-dimensional adjustment platform for adjusting the position of the test laser light source.

[0009] According to an embodiment of the present application, the three-dimensional adjustment platform comprises: a control system, wherein the control system is configured to control the movement of the three-dimensional adjustment platform through control instructions input by an external controller and output the position information of the test laser light source.

[0010] According to an embodiment of the present application, the device further comprises: a host computer in communication connection with the control system, for generating control instructions; wherein the host computer is integrated with a test program, and the test program is configured to control the movement of the three-dimensional adjustment platform, read the spot centroid position and size of the laser radar system, read the coordinates of the test laser light source, and calculate and output the test data results corresponding to the optical axis parallelism, the laser divergence angle, the receiving instantaneous field of view, and the scanning field of view.

[0011] According to an embodiment of the present application, the device further comprises: a 180° reflective element for calibrating the coordinate conversion relationship between the test laser light source and the target surface of the charge coupled device detector.

[0012] According to an embodiment of the present application, the device further comprises: a goniometer for verifying the relationship between the spot position coordinates and the angle of the target surface of the charge coupled device detector.

[0013] According to an embodiment of the present application, the device further comprises: a laser energy attenuation element arranged between the laser radar system and the collimator objective lens, for attenuating the intensity of the laser light source emitted by the laser radar system.

[0014] According to an embodiment of the present application, the collimator objective lens is configured as a reflective collimator objective lens.

[0015] Another aspect of the present application provides a laser radar optical performance comprehensive detection method, comprising: controlling a test laser light source to move along a corresponding conjugate focal plane to search for an optimal position; monitoring the intensity of a received signal of a laser radar system in real time, wherein, when the intensity of the received signal is monitored to be maximum, the position of the test laser light source is recorded; according to the spot centroid position of a charge coupled device detector, the optical axis corresponding to a transmitting system of the laser radar system is calibrated, and according to the position of the test laser light source, the optical axis corresponding to a receiving system of the laser radar system is calibrated; according to the optical axis corresponding to the transmitting system and the optical axis corresponding to the receiving system after calibration, the optical axis parallelism is calculated; according to the spot diameter on the charge coupled device detector, the laser divergence angle of the laser radar system is calculated; according to the limit position of the movement of the test laser light source, the receiving instantaneous field of view of the laser radar system is calculated, wherein the limit position represents the position corresponding to the maximum intensity of the received signal and the position corresponding to the minimum intensity of the received signal; according to the coordinate position of the edge point of the laser scanning angle of the laser radar system, the scanning field of view angle of the laser radar system is calculated; and according to the optical axis parallelism, the laser divergence angle, the receiving instantaneous field of view and the scanning field of view angle, the optical performance comprehensive detection data of the laser radar system is generated.

[0016] Compared with the prior art, the laser radar optical performance comprehensive detection device and method provided by the present application embodiment has at least the following beneficial effects:

[0017] (1) The laser radar optical performance comprehensive detection device and method provided by the present application embodiment uses a parallel light tube objective lens to divide the laser light source emitted by the laser radar system to be tested into two conjugate imaging paths through a beam splitter, and then combines conjugate coordinate conversion calibration and a multi-wavelength laser echo simulation light source to establish an infinite remote laser echo light path simulation, so that the optical axis parallelism, the laser divergence angle, the receiving instantaneous field of view and the scanning field of view angle of the laser radar can be tested with high precision and quantification, thereby solving the technical problems of the prior art, such as single test function, insufficient universality and low test efficiency.

[0018] (2) The laser radar optical performance comprehensive detection device and method provided by the present application embodiment uses a parallel light tube objective lens, a beam splitter and a high-precision three-dimensional adjustment platform to establish the conjugate relationship between the test laser light source and the target surface of the charge coupled device detector, and the laser radar system transceiver optical axis included angle can be calculated through the spot centroid offset, so that the high-precision measurement of μ rad level is realized.

[0019] (3) The laser radar optical performance comprehensive detection device and method provided by the present application embodiment integrates the centroid reading algorithm program, the laser radar received signal intensity discrimination and position path search algorithm program in the upper computer, so that the unnecessary manual intervention process can be simplified, and the high-efficiency automatic detection test mode is realized.

[0020] (4) The laser radar optical performance comprehensive detection device and method provided by the embodiment of the present application is different from the prior art which needs to additionally introduce illumination at the laser radar receiving system end, but uses a test laser light source to combine a laser radar receiving signal strength discrimination and a position path search algorithm to calibrate the optical axis of the laser radar receiving system. This kind of method does not need to additionally design illumination for the laser radar receiving system, does not increase additional illumination structure design or interface design, and is suitable for testing laser radars of various structural layout types such as transceiver combination, separation, unit detection and array detection. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above and other objects, features and advantages of the present application will become more apparent from the following description of embodiments of the present application taken in conjunction with the accompanying drawings, in which:

[0022] Figure 1 A structural diagram of the prior art for measuring parallelism of a laser ranging machine transmitting and receiving system by a four-quadrant detector is schematically shown;

[0023] Figure 2 A structural diagram of the prior art for calibrating optical axis parallelism by an optical reverse device is schematically shown;

[0024] Figure 3 A structural diagram of the prior art for measuring optical axis of a transmitting and receiving system by an auxiliary illumination method is schematically shown;

[0025] Figure 4 A structural diagram of a laser radar optical performance comprehensive detection device according to the embodiment of the present application is schematically shown;

[0026] Figure 5 A coordinate conversion relationship diagram between a test laser light source and a CCD target surface according to the embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0027] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. It is to be understood, however, that the description is merely exemplary of the present application, and is not intended to limit the scope of the present application. In the following detailed description of the embodiments of the present application, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that one or more embodiments of the present application can be practiced without these specific details. In other instances, well-known structures and functions have not been described in detail in order to avoid obscuring aspects of the present application.

[0028] The terms used herein are merely used to describe specific embodiments, and are not intended to limit the present application. The terms "include", "comprise" and the like used herein indicate the presence of the described features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0029] All terms used herein, including technical and scientific terms, have the meanings commonly understood by one of ordinary skill in the art, unless otherwise defined. It should be noted that the use of any terms herein should not be interpreted as excluding the use of any other terms that are equivalent in meaning to those terms.

[0030] In the case of using expressions similar to "at least one of A, B, and C, etc.", it should be generally interpreted that the meaning of the expression is understood by one of ordinary skill in the art as it is commonly used (for example, "a system having at least one of A, B, and C" should include but not be limited to a system having A alone, a system having B alone, a system having C alone, a system having both A and B, a system having both A and C, a system having both B and C, and / or a system having A, B, and C, etc.).

[0031] In embodiments of the present application, the collection, updating, analysis, processing, use, transmission, provision, disclosure, storage, etc. of the data involved (for example, including but not limited to user personal information) comply with relevant laws and regulations, are used for legal purposes, and do not violate public order and good customs. In particular, necessary measures are taken to prevent illegal access to user personal information data, and to maintain user personal information security and network security.

[0032] Laser radars are widely used in aerospace, autonomous driving, mapping, etc., so efficient and high-precision comprehensive detection and evaluation of their optical performance is an indispensable part of laser radar equipment testing and adjustment. The present application aims to solve the evaluation and testing of the following optical performance indicators during the development and production of laser radars:

[0033] (1) Laser radar optical axis parallelism detection

[0034] The optical axis parallelism of the laser radar transmitting system and the receiving system directly determines the laser radar detection capability, and the real-time accurate measurement of the laser transmitting and receiving optical axis is an important basis for laser radar optical adjustment.

[0035] (2) Laser divergence angle test

[0036] The laser divergence angle of the laser radar determines the angular resolution, pointing accuracy performance indicators of the radar.

[0037] (3) Laser radar instantaneous receiving field of view

[0038] The laser radar instantaneous field of view refers to the effective detection field of view angle that the laser radar can receive at a certain point in time, and the receiving instantaneous field of view of the laser radar affects the anti-interference and pointing accuracy performance indicators of the radar.

[0039] (4) Laser radar scanning field of view angle

[0040] The laser radar scanning field of view angle refers to the effective detection range of the laser radar.

[0041] However, the prior art does not have a device and method for comprehensively evaluating the above optical indicators at present. The prior art device close to the present application can only test the laser optical axis parallelism and the laser divergence angle. The prior art method for testing the optical axis parallelism includes: a four-quadrant detector optical axis parallelism test method, an optical reverse device optical axis parallelism test method, and a light-emitting diode (LED) auxiliary lighting charge coupled device (CCD) imaging parallelism test method.

[0042] For example, Figure 1 A structural diagram of the prior art for measuring the parallelism of the transmitting and receiving system of a laser range finder by a four-quadrant detector is schematically shown.

[0043] As shown in Figure 1 The device uses an angle pyramid prism to realize 180° folding of the transmitted laser, and realizes the test of the angle deviation of the transmitting and receiving optical axes by replacing the range finding receiving detector with a four-quadrant detector. The device requires that the structure of the laser range finder can realize the interchange of the range finding detector and the four-quadrant detector, which increases the design difficulty of the laser range finder and limits the universality of the test device. Moreover, the replacement of the range finding detector with the four-quadrant detector will introduce structural positioning errors, which affect the accuracy of the optical axis test.

[0044] For example, Figure 2 A structural diagram of the prior art for calibrating the optical axis parallelism by an optical reverse device is schematically shown.

[0045] As shown in Figure 2 The device reflects part of the laser emitted by the transmitting system by the optical reverse device, so that a part of the light is 180° folded and reflected into the receiving optical system. Whether the transmitting system and the receiving optical system have an optical axis deviation is judged by the returned signal. The energy distribution of the reflected laser spot of the device is different from the energy distribution of the full laser emission beam, so that there is an uncontrollable deviation in the test of the optical axis, which affects the accuracy of the optical axis calibration.

[0046] For example, Figure 3 A structural diagram of the prior art for measuring the optical axis of the transmitting and receiving system by an auxiliary lighting method is schematically shown.

[0047] As shown in Figure 3As shown, the device calibrates the position of the white light source in the CCD as a measurement reference through a parabolic reflector, a light splitting prism, a corner cube prism, measures the position relationship of the light spot formed at the CCD target surface after the emission laser and the LED illumination, and calculates the parallelism of the optical axis between the receiving and emitting systems. The role of the reflector is to attenuate the laser intensity entering the CCD. The device can quantitatively measure the included angle between the emitting system and the receiving system and the laser divergence angle, but it depends on the receiving structure of the LED illumination, which limits the layout of the receiving structure of the laser radar or range finder, and it is difficult to achieve LED illumination from the back for a larger area detector, and there are disadvantages of insufficient test universality.

[0048] It can be seen that the prior art has defects of single test function, insufficient universality and low test efficiency for laser radar optical performance testing, specifically:

[0049] Regarding the defect of single test function:

[0050] The existing optical axis testing device or method only detects the optical axis consistency (parallelism) of the transceiving optical system through indirect means (optical axis overrunning mode), and lacks the ability to verify the strength of the laser echo signal.

[0051] The existing test device or method can simultaneously test the divergence angle of the laser emission of the laser radar or range finder and the parallelism of the transceiving optical axis, and lacks means and methods for synchronous measurement of laser emission power.

[0052] Regarding the defect of insufficient universality:

[0053] The existing technology adopts the method of replacing the detection element (four-quadrant detector) or increasing the auxiliary illumination light source in the detection method of the transceiving optical axis of the laser radar, which requires special structure of the laser receiving system to meet the test requirements of the laser test system. However, this increases the design difficulty of the laser radar and further reduces the universality of the test system.

[0054] The existing technology adopts the method of partially sampling and reflecting the emitted laser by an optical reverse device in the detection method of the transceiving optical axis of the laser radar. Although the introduction of the optical reverse device in the test can solve the problem of test universality, the centroid position of the light spot formed after the partial sampling of the emitted laser is reflected by the reverse device or element does not coincide with the centroid position of the full-aperture laser emission light spot. This optical axis calibration method has great uncertainty and will introduce large errors.

[0055] Regarding the defect of low test efficiency:

[0056] Most of the existing technology observes the optical axis deviation at the CCD target surface through the human eye, which has the disadvantages of interpretation difference and low test efficiency.

[0057] The prior art relies on manual adjustment of the light path, such as manually adjusting the position of a CCD using a translation stage, which is prone to introducing human error.

[0058] Therefore, the embodiment of the present application provides a laser radar optical performance comprehensive detection device, aiming at solving the technical problems of the prior art, such as single test function, insufficient universality, and low test efficiency.

[0059] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] Figure 4 The structure of the laser radar optical performance comprehensive detection device according to the embodiment of the present application is schematically shown.

[0061] As shown in Figure 4 , the structure of the laser radar optical performance comprehensive detection device of this embodiment may, for example, include a laser radar system to be tested, a collimator objective lens, a beam splitter, a charge-coupled device (CCD) detector, and a test laser light source.

[0062] The collimator objective lens is used to focus the laser light source emitted by the laser radar system to form a collimated light beam (parallel light beam).

[0063] The beam splitter is used to divide the light path of the collimator objective lens into two orthogonal conjugate focal planes. One path is used for the outgoing light of the test laser light source, and the other path is used for the CCD detector to receive imaging. The two paths form a conjugate relationship through the collimator objective lens and the beam splitter.

[0064] The CCD detector is arranged at a position corresponding to one of the conjugate focal planes, and is used to receive the laser light source focused by the collimator objective lens and form a light spot at the target center position.

[0065] The test laser light source is arranged at a position corresponding to the other conjugate focal plane, and is used to generate a laser light source consistent with the wavelength of the laser radar system. The laser light source generated by the test laser light source can be focused by the collimator objective lens to the laser radar system, thereby simulating a laser echo at an infinite distance.

[0066] The test laser light source is configured to be movable along the corresponding conjugate focal plane, and the optical performance of the laser radar system is comprehensively detected by adjusting the position of the test laser light source.

[0067] In this embodiment, the test laser light source and the CCD detector are respectively located on the two optical conjugate planes of the collimator objective lens, and the light is split and imaged via the beam splitter to establish a spatial correspondence for angle and position calibration, thereby achieving high-precision imaging and centroid measurement.

[0068] The laser radar optical performance comprehensive detection device provided by the embodiment of the present application utilizes a parallel light tube objective lens to split the laser light source emitted by the laser radar system to be tested into two conjugate imaging paths through a beam splitter, and then combines conjugate coordinate conversion calibration and a multi-wavelength laser echo simulation light source to establish an infinite remote laser echo light path simulation, so that the parallelism of the optical axis of the laser radar, the laser divergence angle, the receiving instantaneous field of view and the scanning field of view angle can be tested with high precision and quantification, and thus the technical problems of the prior art, such as single test function, insufficient universality and low test efficiency, are solved.

[0069] According to the embodiment of the present application, the laser radar system can specifically include a transmitting system and a receiving system.

[0070] The transmitting system is configured to emit a laser light source.

[0071] The receiving system is configured to receive a laser echo simulated and generated by the test laser light source.

[0072] According to the embodiment of the present application, the laser radar optical performance comprehensive detection device further includes, for example, a high-precision three-dimensional adjustment platform.

[0073] The high-precision three-dimensional adjustment platform is configured to adjust the position of the test laser light source, realize light path alignment, test laser light source traversal focal plane, precise positioning of the optical axis intersection, etc. The high-precision three-dimensional adjustment platform has the characteristics of high displacement precision and strong motion stability.

[0074] According to the embodiment of the present application, the high-precision three-dimensional adjustment platform is configured with a control system, wherein the control system is configured to control the movement of the three-dimensional adjustment platform through the control instructions input by an external controller (such as a host computer) and output the position information of the test laser light source.

[0075] The laser radar optical performance comprehensive detection device provided by the embodiment of the present application utilizes a parallel light tube objective lens, a beam splitter and a high-precision three-dimensional adjustment platform to establish the conjugate relationship between the test laser light source and the target surface of the CCD detector, and calculates the laser radar system transceiver optical axis angle through the spot centroid offset, so that the high-precision measurement of μ rad level is realized.

[0076] According to the embodiment of the present application, the laser radar optical performance comprehensive detection device further includes, for example, a host computer.

[0077] The host computer is in communication connection with the control system and is configured to generate control instructions.

[0078] The host computer is integrated with a test program, and the test program is configured to control movement of the three-dimensional adjustment platform, read spot centroid position and size of the laser radar system, and read coordinates of the test laser light source, and calculate output optical axis parallelism, laser divergence angle, receiving instantaneous field of view, and test data results corresponding to the scanning field of view.

[0079] In the embodiment, the host computer can be integrated with a centroid reading algorithm program and a laser radar receiving signal strength discrimination and position path search algorithm program, so as to simplify unnecessary manual intervention processes and realize efficient automatic detection and testing.

[0080] According to the embodiment of the application, the laser radar optical performance comprehensive detection device further comprises a 180° reflecting element.

[0081] The 180° reflecting element is used to calibrate the coordinate conversion relationship between the test laser light source and the target surface of the CCD detector.

[0082] According to the embodiment of the application, the laser radar optical performance comprehensive detection device further comprises a goniometer.

[0083] The goniometer is used to verify the relationship between the spot position coordinates and the angle of the target surface of the CCD detector.

[0084] According to the embodiment of the application, the laser radar optical performance comprehensive detection device further comprises a laser energy attenuation element.

[0085] The laser energy attenuation element is arranged between the laser radar system and the collimator objective lens, and is used to attenuate the intensity of the laser light source emitted by the laser radar system.

[0086] According to the embodiment of the application, the collimator objective lens is a reflecting collimator objective lens.

[0087] The working principle of the laser radar optical performance comprehensive detection device is as follows:

[0088] The test laser light source and the CCD target surface are placed on two conjugate focal planes formed by the collimator objective lens and the beam splitter, and then the coordinate conversion relationship between the test laser light source and the CCD target surface is calibrated by the high-precision 180° reflecting element, the test laser light source is translated on the focal plane, and the position of the traversal point is recorded, and the correspondence between the focal plane coordinate point of the test laser light source and the CCD pixel point is established, as shown in Figure 5 .

[0089] Figure 5 The coordinate conversion relationship between the test laser light source and the CCD target surface according to the embodiment of the application is schematically shown.

[0090] AsFigure 5 As shown, the coordinate relationship calibration can capture the position of the test laser light source in real time at the CCD target surface, and after the coordinate conversion relationship is established, the precision angle measuring instrument is used to verify the spot position coordinates and angle relationship at the CCD target surface (verify the distortion error of the collimator).

[0091] In this embodiment, by using the corresponding relationship between the focal plane image height and the angle of the collimator objective lens after calibration, the laser radar optical axis parallelism, laser divergence angle, receiving instantaneous field of view and scanning field of view angle can be tested quantitatively with high precision.

[0092] The laser radar optical performance comprehensive detection device provided by the embodiment of the present application is different from the prior art which needs to introduce illumination at the laser radar receiving system end, but uses a test laser light source to calibrate the optical axis of the laser radar receiving system by combining the laser radar receiving signal strength discrimination and position path search algorithm. This method does not need additional illumination design for the laser radar receiving system, does not increase additional illumination structure design or interface design, and is suitable for testing various structure layout types of laser radars such as transceiver combination, separation, unit detection and array detection.

[0093] The embodiment of the present application also provides a laser radar optical performance comprehensive detection method, which is realized based on the laser radar optical performance comprehensive detection device of the above embodiment. The method may, for example, include:

[0094] S1, controlling the test laser light source to move along the corresponding conjugate focal plane to search for an optimal position.

[0095] In this embodiment, the laser emitted by the laser radar transmitting system is attenuated by a laser energy attenuation element and then imaged to the CCD target surface by the collimator objective lens. The upper computer records the position of the laser spot centroid of the laser radar system.

[0096] The test laser light source emits laser which is incident to the laser radar receiving system after passing through the collimator objective lens. The upper computer controls the test laser light source to move along the focal plane and searches for the position of the test laser light source.

[0097] S2, real-time monitoring of the intensity of the received signal of the laser radar system, wherein when the intensity of the received signal is monitored to be maximum, the position of the test laser light source is recorded.

[0098] In this embodiment, when the upper computer monitors the position of the test light source to the maximum signal intensity, the position of the test light source is recorded.

[0099] S3, according to the spot centroid position of the CCD detector, the optical axis corresponding to the transmitting system of the laser radar system is calibrated, and according to the position of the test laser light source, the optical axis corresponding to the receiving system of the laser radar system is calibrated.

[0100] In this embodiment, the position of the CCD light spot center is used to calibrate the optical axis of the laser radar transmitting system The position of the test laser light source is used to calibrate the optical axis of the laser radar receiving system The position of the test laser light source is used to calibrate the optical axis of the laser radar receiving system

[0101] S4, according to the optical axis of the transmitting system and the optical axis of the receiving system, the parallelism of the optical axis is calculated.

[0102] In this embodiment, according to the optical axis of the transmitting system and the optical axis of the receiving system, the angle between the optical axes is calculated.

[0103] For example, the angle θ between the optical axes can be calculated as follows:

[0104] (1)

[0105] Where θ represents the angle between the optical axes, and f represents the focal length of the objective lens of the collimator.

[0106] S5, according to the diameter of the light spot on the CCD detector, the laser divergence angle of the laser radar system is calculated.

[0107] In this embodiment, the 1 / e2 light spot diameter of the Gaussian distribution light spot on the CCD can reflect the transmitting laser divergence angle of the laser radar system.

[0108] For example, the transmitting laser divergence angle can be calculated as follows:

[0109] (2)

[0110] S6, according to the limit position of the test laser light source movement, the receiving instantaneous field of view of the laser radar system is calculated, wherein the limit position represents the position corresponding to the maximum receiving signal intensity and the position corresponding to the minimum receiving signal intensity.

[0111] In this embodiment, the host computer controls the test laser light source to move along the focal plane to search and monitor the intensity of the laser radar receiving signal, and when the limit positions on both sides of the laser radar system that can receive the test laser signal are reached , the receiving instantaneous field of view of the laser radar system can be calculated.

[0112] For example, the receiving instantaneous field of view can be calculated as follows:

[0113] (3)

[0114] ​​S7, according to the coordinate position of the laser radar system emitting the laser scanning angle edge point, the scanning field angle of the laser radar system is calculated.

[0115] In the embodiment, the coordinate position of the laser radar system emitting the light beam scanning angle edge point is recorded , and the scanning field angle of the laser radar can be calculated.

[0116] For example, the scanning field angle can be calculated by the following way :

[0117] (4)

[0118] S8, according to the optical axis parallelism, the laser divergence angle, the receiving instantaneous field of view and the scanning field angle, the optical performance comprehensive detection data of the laser radar system is generated.

[0119] Through the above operation, the high-precision quantitative test of the optical axis parallelism of the laser radar, the laser divergence angle, the receiving instantaneous field of view and the scanning field angle can be completed, the optical performance comprehensive detection data is obtained, and the technical problems of the prior art, such as single test function, insufficient universality and low test efficiency, are effectively solved.

[0120] The embodiments of the present application are described above. However, these embodiments are only for illustrative purposes, and are not intended to limit the scope of the present application. Although each embodiment is described above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. Without departing from the scope of the present application, those skilled in the art can make various substitutions and modifications, which should fall within the scope of the present application.

Claims

1. A device for comprehensive detection of optical performance of a laser radar, characterized in that, The device comprises: a parallel light tube objective lens for focusing a laser light source emitted by a laser radar system; a beam splitter for splitting the optical path of the parallel light tube objective lens into two orthogonal conjugate focal planes; a charge coupled device detector arranged at a position corresponding to one of the conjugate focal planes, for receiving the laser light source focused by the parallel light tube objective lens and forming a spot at a target position; a test laser light source arranged at a position corresponding to the other conjugate focal plane, for generating a laser light source consistent with the wavelength of the laser radar system, and the laser light source generated by the test laser light source can be focused by the parallel light tube objective lens to the laser radar system, thereby simulating a laser echo at an infinite distance; wherein the test laser light source is configured to move along the corresponding conjugate focal plane, and the optical performance of the laser radar system is comprehensively detected by adjusting the position of the test laser light source.

2. The apparatus of claim 1, wherein, The laser radar system comprises: a transmitting system for emitting a laser light source; a receiving system for receiving the laser echo simulated by the test laser light source.

3. The apparatus of claim 1, wherein, The device further comprises: a three-dimensional adjustment platform for adjusting the position of the test laser light source.

4. The apparatus of claim 3, wherein, The three-dimensional adjustment platform comprises: a control system, wherein the control system is configured to control the movement of the three-dimensional adjustment platform through control instructions input by an external controller, and output the position information of the test laser light source.

5. The apparatus of claim 4, wherein, The device further comprises: a host computer in communication connection with the control system, for generating control instructions; wherein the host computer integrates a test program, and the test program is configured to control the movement of the three-dimensional adjustment platform, read the spot centroid position and size of the laser radar system, and read the coordinates of the test laser light source, and calculate and output the test data results corresponding to the optical axis parallelism, laser divergence angle, receiving instantaneous field of view and scanning field of view.

6. The apparatus of claim 1, wherein, The device further comprises: a 180° reflective element for calibrating the coordinate conversion relationship between the test laser light source and the target surface of the charge coupled device detector.

7. The apparatus of claim 6, wherein, The device further comprises: a goniometer for verifying the relationship between the spot position coordinates and the angle of the target surface of the charge coupled device detector.

8. The apparatus of claim 1, wherein, The device further comprises: a laser energy attenuation element arranged between the laser radar system and the parallel light tube objective lens, for attenuating the intensity of the laser light source emitted by the laser radar system.

9. The apparatus of claim 1, wherein, The parallel light tube objective lens is configured as a reflective parallel light tube objective lens. 10.A method for comprehensive detection of optical performance of a lidar, applied to the comprehensive detection device of optical performance of the lidar according to any one of claims 1 to 9, characterized in that, The method comprises: controlling the test laser light source to move along the corresponding conjugate focal plane to search for an optimal position; real-time monitoring the intensity of the received signal of the laser radar system, wherein when the intensity of the received signal is monitored to be maximum, the position of the test laser light source is recorded; calibrating the optical axis corresponding to the transmitting system of the laser radar system according to the spot centroid position of the charge coupled device detector, and calibrating the optical axis corresponding to the receiving system of the laser radar system according to the position of the test laser light source; calculating the optical axis parallelism according to the calibrated optical axis corresponding to the transmitting system and the optical axis corresponding to the receiving system. According to the spot diameter on the charge coupled device detector, the laser divergence angle of the laser radar system is calculated; According to the limit position of the movement of the test laser light source, the receiving instantaneous field of view of the laser radar system is calculated, wherein the limit position represents the position corresponding to the maximum intensity of the received signal and the position corresponding to the minimum intensity of the received signal of the laser radar system; According to the coordinate position of the edge point of the laser scanning angle of the laser radar system, the scanning field angle of the laser radar system is calculated; According to the optical axis parallelism, the laser divergence angle, the receiving instantaneous field of view and the scanning field angle, the comprehensive detection data of the optical performance of the laser radar system is generated.

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