A method and device for quickly adjusting the coaxial transmission and reception of a laser radar with separate transmission and reception

Abstract

A method and device for rapid coaxial adjustment of a laser radar with separate transmitters and receivers, comprising the following steps: using a large-aperture plane reflector and a collimator to establish a self-collimating optical path, using the optical axis of the collimator as a coaxial adjustment reference for the laser emission and laser receiving systems; aligning the laser radar with the collimator, abutting the large-aperture plane reflector on the optical reference plane of the laser emission system and the laser receiving system, adjusting the pitch and azimuth directions of the laser emission system and the laser receiving system to achieve self-collimation of the collimator; and completing the coaxial adjustment of the laser emission system and the receiving system. The present invention uses the optical reference plane of the laser receiving and emitting system as the optical axis adjustment reference, and uses a simple optical instrument collimator and a large-aperture plane reflector in a laboratory to adjust the optical axes of the laser receiving and laser emitting systems to basically coincide, and the constructed optical path is simple and easy to adjust, and the coaxial adjustment of the transceiver system can be quickly achieved.

Description

Technical Field

[0001] The present application relates to the field of optical technology, and in particular to a method and device for rapid coaxial adjustment of a laser radar with separate transmitters and receivers. Background Art

[0002] In recent years, LiDAR technology has developed rapidly in the military and commercial fields. The use of laser ranging technology can achieve accurate measurement of the three-dimensional coordinates of the target, with the advantages of high sensitivity, good anti-interference, and high tracking accuracy. In actual use, factors that affect the range of LiDAR include transmission power, receiving aperture, and the coaxial adjustment accuracy of laser transmission and laser reception. Limited by constraints such as cost, weight, and volume space, under the conditions of limited laser transmission power and system receiving aperture, the coaxial adjustment accuracy of laser transmission and reception becomes a key factor restricting the range of LiDAR, which makes the coaxial adjustment of LiDAR transmission and reception a key technology.

[0003] Most existing coaxial adjustment technology methods require the construction of a complex optical path and the use of optical components such as beam splitters and prisms. At the same time, the lidar must be in a working state to achieve adjustment. In addition, the optical path is relatively complex and the adjustment method is relatively inconvenient. Summary of the invention

[0004] In view of this, it is necessary to provide an adjustment method with a simple optical path and a fast adjustment speed, which can realize rapid alignment adjustment of the laser light receiving and transmitting path by using only simple optical instruments, plane mirrors and parallel light tubes.

[0005] In order to solve the above technical problems, a method for quickly adjusting the coaxial transmission and reception of a laser radar with separate transmission and reception is provided, which is characterized by comprising the following steps:

[0006] A self-collimating optical path is established by using a large-aperture plane reflector and a collimator, and the optical axis of the collimator is used as the coaxial adjustment reference for the laser emission and laser receiving systems.

[0007] Align the laser radar with the collimator, place the plane reflector against the optical reference plane of the laser launch system, adjust the pitch and azimuth directions of the laser launch system, and realize the self-collimation of the collimator;

[0008] A plane reflector is attached to the optical reference plane of the laser receiving system, and the pitch and azimuth of the laser receiving system are adjusted to realize the self-collimation of the parallel light tube and complete the coaxial adjustment of the laser transmitting and receiving system.

[0009] Furthermore, the collimator comprises two;

[0010] A large-aperture plane reflector is placed in front of the two parallel light tubes.

[0011] Furthermore, targets are placed at the image planes of the two collimators, and the optical axes of the two collimators are adjusted to be consistent with the normal directions of the large-aperture plane reflectors by using a self-collimation method;

[0012] The optical axes of the two parallel light pipes are parallel.

[0013] Furthermore, the large-aperture plane reflector is removed, and the optical reference planes of the transmitting system and the receiving system of the laser radar are respectively aligned with the light entrances of the two parallel light pipes.

[0014] Furthermore, the plane reflector is placed against the optical reference plane of the emission system, and the optical reference plane of the emission system is adjusted to be perpendicular to the optical axis of the parallel light tube by means of self-collimation.

[0015] Furthermore, the plane reflector is placed against the optical reference plane of the receiving system, and the optical reference plane of the receiving system is adjusted to be perpendicular to the optical axis of the collimator by means of self-collimation;

[0016] Furthermore, the optical axes of the laser emitting system and the laser receiving system coincide with the corresponding parallel light pipes, thus completing the coaxial adjustment of the receiving and emitting.

[0017] A transceiver-split laser radar transceiver coaxial rapid adjustment device, comprising a collimator, a large-aperture plane reflector, a laser transmitting system, a laser receiving system, a receiving adjustment structure and a transmitting adjustment structure;

[0018] The collimator is parallel to the large-aperture plane reflector;

[0019] The laser emitting system, the laser receiving system, the receiving regulating structure and the emitting regulating structure are arranged between the parallel light pipe and the large-aperture plane reflecting mirror.

[0020] Furthermore, the laser receiving system and the laser emitting system are placed at the front end of the collimator, and the apertures of the collimator are aligned with the optical apertures of the laser receiving system and the laser emitting system respectively.

[0021] Furthermore, the collimator comprises two.

[0022] The beneficial effects of the present invention compared to the prior art are:

[0023] The advantage of the present application is that the optical reference plane of the laser receiving and transmitting system is used as the reference for adjusting the optical axis. The optical axes of the laser receiving and laser transmitting system can be adjusted to basically coincide with each other in the laboratory using simple optical instruments, such as a parallel light tube and a large-aperture plane reflector. There is no need to adjust the laser receiving system and the transmitting system under actual energized working conditions. The constructed optical path is simple and easy to adjust, and the coaxial adjustment of the receiving and transmitting system can be quickly achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0025] Figure 1 This is a schematic diagram of implementing the calibration method in this application. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of this application clearer, the technical solution of this application will be clearly and completely described below in combination with the specific embodiments of this application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this application, not all of them.

[0027] The present invention is further described below with reference to specific examples and accompanying drawings.

[0028] A method for quickly adjusting the coaxial transmission and reception of a laser radar with separate transmission and reception, comprising the following steps:

[0029] A self-collimating optical path is established by using a large-aperture plane reflector and a collimator, and the optical axis of the collimator is used as the coaxial adjustment reference for the laser emission and laser receiving systems.

[0030] Align the laser radar with the collimator, place the plane reflector against the optical reference plane of the laser launch system, adjust the pitch and azimuth directions of the laser launch system, and realize the self-collimation of the collimator;

[0031] A plane reflector is attached to the optical reference plane of the laser receiving system, and the pitch and azimuth of the laser receiving system are adjusted to realize the self-collimation of the parallel light tube and complete the coaxial adjustment of the laser transmitting and receiving system.

[0032] The collimator comprises two;

[0033] A large-aperture plane reflector is placed in front of the two parallel light tubes.

[0034] Targets are placed at the image planes of the two collimators, and the optical axes of the two collimators are adjusted to be consistent with the normal directions of the large-aperture plane reflector by means of self-collimation;

[0035] The optical axes of the two parallel light pipes are parallel.

[0036] Remove the large-aperture plane reflector and align the optical reference planes of the laser radar's transmitting system and receiving system with the light entrances of the two parallel light tubes respectively.

[0037] The plane reflector is placed against the optical reference plane of the emission system, and the optical reference plane of the emission system is adjusted to be perpendicular to the optical axis of the parallel light tube by means of self-collimation.

[0038] The plane reflector is placed against the optical reference plane of the receiving system, and the optical reference plane of the receiving system is adjusted to be perpendicular to the optical axis of the collimator by means of self-collimation;

[0039] The optical axes of the laser emitting system and the laser receiving system are both coincident with the corresponding parallel light tubes, thus completing the coaxial adjustment of the receiving and emitting.

[0040] A transceiver-split laser radar transceiver coaxial rapid adjustment device, comprising a collimator, a large-aperture plane reflector, a laser transmitting system, a laser receiving system, a receiving adjustment structure and a transmitting adjustment structure;

[0041] The collimator is parallel to the large-aperture plane reflector;

[0042] The laser emitting system, the laser receiving system, the receiving regulating structure and the emitting regulating structure are arranged between the parallel light pipe and the large-aperture plane reflecting mirror.

[0043] The laser receiving system and the laser emitting system are placed at the front end of the collimator, and the apertures of the collimator are aligned with the optical apertures of the laser receiving system and the laser emitting system respectively.

[0044] The collimator comprises two.

[0045] Furthermore, two collimators with self-collimation function are placed, and the selected collimators can cover the optical aperture of the laser receiving and laser emitting systems;

[0046] A large-aperture plane reflector is placed at an appropriate distance to ensure that the reflective surface of the large-aperture plane reflector can cover the optical apertures of the two parallel light tubes at the same time;

[0047] Place an appropriate target at the image plane of the collimator, which is a crosshair target in this example;

[0048] Using the principle of collimator self-collimation, the crosshair target images emitted by the two collimators and returned through the large-aperture plane reflector are adjusted to coincide with the crosshair target, and the optical axes of the two collimators coincide with the vertical direction of the large-aperture plane reflector. At this time, the optical axes of the two collimators are parallel;

[0049] Place the laser receiving system and the transmitting system at the front end of the collimator to ensure that the collimator aperture is aligned with the optical aperture of the transmitting and receiving system respectively;

[0050] Place the plane reflector against the optical reference plane of the transmitting system (the reference plane is perpendicular to the optical axis of the transmitting system) and keep it stable;

[0051] By adjusting the pitch and azimuth of the launch system (in this example, a three-point support adjustment mechanism can adjust the pitch and azimuth of the laser launch system), the crosshair target image emitted by the collimator and returned by the plane reflector attached to the optical reference plane of the launch system is adjusted to coincide with the crosshair target, and the optical reference plane of the launch system is made perpendicular to the optical axis of the collimator by means of self-collimation;

[0052] Place the plane reflector against the optical reference plane of the receiving system (the reference plane is perpendicular to the optical axis of the receiving system) and keep it stable;

[0053] By adjusting the pitch and azimuth of the receiving system (in this example, a three-point support adjustment mechanism can adjust the pitch and azimuth of the laser receiving system), the crosshair target image emitted by the collimator and returned by the plane reflector attached to the optical reference plane of the receiving system is adjusted to coincide with the crosshair target, and the optical reference plane of the transmitting system is made perpendicular to the optical axis of the collimator by means of self-collimation;

[0054] At this time, the optical references of the laser receiving and laser emitting systems coincide with the optical axes of their respective parallel light tubes, and are both parallel to the normal of the emitting surface of the large-aperture plane reflector, thus achieving coaxial adjustment of the laser receiving and laser emitting systems.

[0055] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A method for quickly adjusting the coaxial transmission and reception of a laser radar with separate transmission and reception, characterized in that: A transceiver-separated laser radar transceiver coaxial rapid adjustment device is included to execute the adjustment method, The transceiver-transmitter-split laser radar transceiver coaxial rapid adjustment device comprises a collimator, a large-aperture plane reflector, a laser transmitting system, a laser receiving system, a receiving adjustment structure and a transmitting adjustment structure; The collimator is parallel to the large-aperture plane reflector; The laser emission system, the laser receiving system, the receiving adjustment structure and the emission adjustment structure are arranged between the collimator and the large-aperture plane reflector; The adjustment method comprises the following steps: A self-collimating optical path is established by using a large-aperture plane reflector and a collimator, and the optical axis of the collimator is used as the coaxial adjustment reference for the laser emission and laser receiving systems. Align the laser radar with the collimator, place the plane reflector on the optical reference plane of the laser launch system, adjust the pitch and azimuth of the laser launch system, and use the self-collimation method to adjust the optical reference plane of the launch system to be perpendicular to the optical axis of the collimator to achieve self-collimation of the collimator; A plane reflector is placed on the optical reference plane of the laser receiving system to adjust the pitch and azimuth of the laser receiving system. The optical reference plane of the receiving system is adjusted to be perpendicular to the optical axis of the collimator by means of self-collimation to achieve self-collimation of the collimator and complete the coaxial adjustment of the laser transmitting and receiving system.

2. The method for quickly adjusting the coaxial transmission and reception of a laser radar with separate transmission and reception according to claim 1 is characterized in that: The collimator comprises two; A large-aperture plane reflector is placed in front of the two parallel light tubes.

3. The method for quickly adjusting the coaxial transmission and reception of a laser radar with separate transmission and reception according to claim 2 is characterized in that: Targets are placed at the image planes of the two collimators, and the optical axes of the two collimators are adjusted to be consistent with the normal directions of the large-aperture plane reflector by means of self-collimation; The optical axes of the two parallel light pipes are parallel.

4. The method for quickly adjusting the coaxial transmission and reception of a laser radar with separate transmission and reception according to claim 3 is characterized in that: Remove the large-aperture plane reflector and align the optical reference planes of the laser radar's transmitting system and receiving system with the light entrances of the two parallel light tubes respectively.

5. The method for rapid coaxial adjustment of a laser radar with separate transceivers according to claim 4 is characterized in that: The plane reflector is placed against the optical reference plane of the emission system, and the optical reference plane of the emission system is adjusted to be perpendicular to the optical axis of the parallel light tube by means of self-collimation.

6. The method for rapid coaxial adjustment of a laser radar with separate transceivers according to claim 5, characterized in that: The plane reflector is placed against the optical reference plane of the receiving system, and the optical reference plane of the receiving system is adjusted to be perpendicular to the optical axis of the parallel light tube by means of self-collimation.

7. The method for quickly adjusting the coaxial transmission and reception of a laser radar with separate transmission and reception according to claim 6 is characterized in that: The optical axes of the laser emitting system and the laser receiving system are both coincident with the corresponding parallel light tubes, thus completing the coaxial adjustment of the receiving and emitting.

8. The method for rapid coaxial adjustment of a laser radar with separate transceivers according to claim 1, characterized in that: The laser receiving system and the laser emitting system are placed at the front end of the collimator, and the apertures of the collimator are aligned with the optical apertures of the laser receiving system and the laser emitting system respectively.

9. The method for rapid coaxial adjustment of a laser radar with separate transceivers according to claim 1, characterized in that: The collimator comprises two.

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