Alignment correction device and method for space laser three-dimensional imaging of spacecraft

Abstract

The present invention relates to an alignment and correction device and method for space laser three-dimensional imaging of spacecraft. The device adjusts the direction of the laser beam so that the emitted beam and the optical axis of the receiving optical lens are aligned in a straight line toward the target to be measured, and enter the field of view of the receiving optical lens after being reflected by the target to be measured. A focusing ring of appropriate thickness can be used as needed to optimize the image quality of the receiving optical lens on the target surface of the imaging component. By rotating and adjusting the emitting diffraction component, the rolling direction of the emitted beam is adjusted so that the horizontal and vertical directions of the laser dot array are consistent with the position of the pixel array on the target surface of the imaging component. By adopting an adjustment part of appropriate height, the pitch and yaw directions of the emitted beam are adjusted so that the position of each point of the laser dot array completely falls into the pixel array on the target surface of the imaging component. A larger imaging range and higher imaging accuracy are achieved under the same laser energy, volume and weight constraints, thereby reducing the overall size and weight.

Description

Technical Field

[0001] The present invention relates to the field of spacecraft photoelectric measurement and perception technology, and in particular to an alignment and correction device and method for space laser three-dimensional imaging of a spacecraft. Background Art

[0002] With the rapid development of laser three-dimensional imaging technology, its application in major aerospace engineering tasks is becoming more and more common. Laser three-dimensional imaging technology will play an important role in spacecraft rendezvous and docking, space situational awareness, debris monitoring, in-orbit space control, landing on extraterrestrial bodies, deep space exploration and other fields.

[0003] Existing space laser 3D imaging primarily uses high-energy lasers and imaging components to acquire target images. Examples include the LIDAR on the Hayabusa2 spacecraft, ESA's Mars landing lidar, and the laser altimeter (OLA) on the OSIRIS-REx spacecraft. However, this approach places the laser and imaging component's optical axes parallel but not coaxially, and the beam cannot be adjusted. This results in a heavy and bulky laser 3D imager, requiring higher laser energy, weighing over 10 kg, and making micron-level alignment difficult. Summary of the Invention

[0004] The purpose of the present invention is to provide an alignment and correction device and method for space laser three-dimensional imaging of spacecraft, which can achieve a longer imaging range and higher imaging accuracy under the same laser energy, volume and weight constraints, and can also realize the lightweight and miniaturized design of spacecraft applications and micron-level alignment of large-area laser dot arrays.

[0005] To achieve the above objectives, in a first aspect, the present invention provides an alignment and correction device for space laser three-dimensional imaging of a spacecraft, characterized by comprising:

[0006] A lens base having an axial hole and a reference mirror mounting surface on the outer side;

[0007] A reference mirror assembly is fixedly mounted on the reference mirror mounting surface of the lens base;

[0008] The optical lens is received and is inserted into the shaft hole. A mounting ring is provided on the outer periphery. The mounting ring is detachably connected to the front mounting surface of the lens base through the focusing ring.

[0009] The imaging component is located at the rear end of the receiving optical lens. The image quality of the receiving optical lens on the target surface of the imaging component can be adjusted by replacing the focusing ring with different thicknesses;

[0010] A transmitting diffraction assembly is installed at the front end of the receiving optical lens, the optical axis of the transmitting diffraction assembly and the optical axis of the receiving optical lens are located on the same straight line and are perpendicular to the target surface of the imaging assembly. The transmitting diffraction assembly can rotate relative to the receiving optical lens, and a first reflector is provided between the transmitting diffraction assembly and the receiving optical lens; and

[0011] The laser beam collimation isolator assembly has a second reflector at the front end. The laser beam collimation isolator assembly is installed on the upper side of the lens base through an adjustment mechanism. The laser beam emitted by the laser beam collimation isolator assembly is reflected by the second reflector and then incident downward onto the first reflector. After being reflected by the first reflector, it enters the emitting diffraction assembly to form an emitting beam with a certain divergence angle. After being reflected by the target to be measured, the emitting beam enters the field of view of the receiving optical lens and reaches the target surface of the imaging assembly, forming the beam splitting and micron-level alignment imaging link of the entire spatial laser three-dimensional imaging. The adjustment mechanism has at least three adjustment parts distributed in a triangle, which can form different height combinations by adjusting the height of each adjustment part separately to realize the adjustment of the emitting beam around the pitch and yaw directions.

[0012] Optionally, the emitting diffraction assembly is mounted on the front end of the receiving optical lens through a support frame, the support frame includes an annular connecting seat and a support seat located on the axis of the annular connecting seat, the support seat is connected to the annular connecting seat through a support rod, an L-shaped channel is provided on the support seat, a first end of the L-shaped channel is located on the upper side of the support seat, and a second end is located at the front end of the support seat, the first reflector is arranged in the L-shaped channel, a plurality of connecting circular holes are provided on the support seat around the axis of the second end of the L-shaped channel, the annular connecting seat is coaxially sleeved on the front end of the receiving optical lens, and the second end of the L-shaped channel is coaxial with the annular connecting seat;

[0013] The emitting diffraction assembly includes an annular mounting seat, a diffraction element and a protective glass. The diffraction element and the protective glass are both embedded in the annular mounting seat, and the protective glass is located in front of the diffraction element. A connecting ring is provided at the rear end of the annular mounting seat, and the connecting ring is embedded in the second end of the L-shaped channel. A plurality of adjustment waist holes are provided on the circumference of the annular mounting seat, which are used to cooperate with the connecting circular holes to fix the emitting diffraction assembly through screws.

[0014] Optionally, the adjusting portion is a gasket.

[0015] Optionally, the size of the pixel array on the target surface of the imaging component is the same as the size of the laser dot array of the emitting diffraction component.

[0016] Optionally, the lens base is made of aluminum alloy or titanium alloy.

[0017] Optionally, the flatness of the front mounting surface of the lens base and the mounting surface of the mounting ring are both no greater than 0.002 mm;

[0018] The cylindricity of the shaft hole matching surface and the peripheral matching surface of the receiving optical lens shall not exceed 0.008mm;

[0019] The flatness of the focus ring mounting surfaces at both ends of the focus ring is no more than 0.0015 mm, and the parallelism of the two focus ring mounting surfaces is no more than 0.002 mm.

[0020] Optionally, the flatness of the reference mirror mounting surface is not greater than 0.002 mm, and the perpendicularity between the reference mirror mounting surface and the front end mounting surface of the lens base is not greater than 0.005 mm;

[0021] The flatness of the mounting surface of the reference mirror assembly is no more than 0.002 mm, and the perpendicularity between the mounting surface of the reference mirror assembly and the reference mirror surface on the field of view direction side of the receiving optical lens is no more than 0.003 mm.

[0022] Optionally, the flatness of the mounting surface of the support base for mounting the emission diffraction assembly is no greater than 0.002 mm, the cylindricity of the mating surface within the hole of the first end of the L-shaped channel for mating with the connecting ring is no greater than 0.008 mm, and the perpendicularity between the mounting surface of the support base and the axis of the second end of the L-shaped channel is no greater than 0.005 mm.

[0023] The flatness of the mounting surface of the annular mounting seat is not greater than 0.002 mm, and the cylindricity of the matching surface of the connecting ring is not greater than 0.008 mm.

[0024] Optionally, the flatness of the upper mounting surface of the lens base is not greater than 0.002 mm, and the perpendicularity with the front mounting surface of the lens base is not greater than 0.005 mm;

[0025] The flatness of the mounting surface of the laser beam collimation isolator assembly shall not exceed 0.002 mm;

[0026] The flatness of the adjusting portion mounting surfaces at both ends of the adjusting portion is no greater than 0.0015 mm, and the parallelism of the two adjusting portion mounting surfaces is no greater than 0.002 mm.

[0027] In a second aspect, the present invention further provides an alignment correction method for space laser three-dimensional imaging of a spacecraft, wherein the steps of performing alignment correction using the alignment correction device according to any one of the first aspects above include:

[0028] (1) Use a theodolite to calibrate the three mutually perpendicular planes of the reference mirror assembly as the calibration reference for subsequent steps;

[0029] (2) Use theodolite to calibrate the position of the transmitting diffraction component at the same position;

[0030] (3) Use a theodolite to calibrate the position of the laser beam collimator isolator assembly at the same position;

[0031] (4) Using the calibration data obtained in steps (1) to (3) as the initial basis data for adjustment in subsequent steps;

[0032] (5) Place a calibration-specific imaging target at the standard object distance of the receiving optical lens;

[0033] (6) Adjust the transmitting diffraction assembly so that it rotates relative to the receiving optical lens to adjust the rolling direction of the transmitting beam until the horizontal and vertical directions of the laser dot matrix are consistent with the position of the pixel array on the target surface of the imaging assembly, and the position deviation is within 20 μm, and then tighten the transmitting diffraction assembly;

[0034] (7) Adjust the height of each adjustment part as needed to ensure the required height difference between the adjustment parts, and adjust the pitch and yaw directions of the emission beam until the positions of each point of the laser dot array completely fall into the pixel array on the target surface of the imaging component, and the position deviation is within 5 μm, and tighten the laser beam collimation isolator assembly;

[0035] (8) If the position deviation requirement of less than 5 μm is not met, repeat steps (6) and 7) until the requirement is met.

[0036] The above technical solution of the present invention has the following advantages:

[0037] The present invention provides an alignment and correction device for space laser three-dimensional imaging of a spacecraft, comprising a lens base, a reference mirror assembly, a receiving optical lens, a focusing ring, an imaging assembly, a transmitting diffraction assembly, a first reflector, and a laser beam collimating isolator assembly. The laser beam emitted by the laser beam collimating isolator assembly can change the direction of the laser beam through the second reflector and the first reflector, so that the transmitting beam is aligned with the optical axis of the receiving optical lens and is directed toward the target to be measured, and enters the field of view of the receiving optical lens after being reflected by the target to be measured. A focusing ring of appropriate thickness can be used as needed to optimize the image quality of the receiving optical lens on the target surface of the imaging assembly. By rotating and adjusting the transmitting diffraction assembly, the rolling direction of the transmitting beam is adjusted so that the horizontal and vertical directions of the laser dot array are consistent with the position of the pixel array on the target surface of the imaging assembly. By using an adjustment part of appropriate height, the pitch and yaw directions of the transmitting beam are adjusted so that the position of each point of the laser dot array completely falls into the pixel array on the target surface of the imaging assembly. By adjusting the roll, pitch and yaw of the emitted light beam, the laser dot array can be aligned at the micron level on the target surface of the imaging component, thereby achieving a longer imaging range and higher imaging accuracy under the same laser energy, volume and weight constraints, thereby reducing the overall size and weight.

[0038] The alignment and correction method for space laser three-dimensional imaging of spacecraft provided by the present invention adopts the above-mentioned alignment and correction device to perform alignment and correction. The entire adjustment operation process is simple and convenient to operate. By adjusting the roll, pitch and yaw directions of the emission light beam, micron-level alignment of the laser dot array on the target surface of the imaging component is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings of the present invention are provided for illustrative purposes only, and the proportions and quantities of the components in the drawings may not necessarily be consistent with the actual product.

[0040] Figure 1 This is a schematic structural diagram of an alignment and correction device for space laser three-dimensional imaging of a spacecraft in a first embodiment of the present invention;

[0041] Figure 2 yes Figure 1 A schematic structural diagram of the alignment correction device from another angle;

[0042] Figure 3 yes Figure 2 A schematic diagram of the left side of the center alignment correction device;

[0043] Figure 4 yes Figure 2 The middle alignment correction device shows the schematic diagram after the light beam is emitted;

[0044] Figure 5 This is a structural schematic diagram of a lens base in Embodiment 1 of the present invention;

[0045] Figure 6 This is a schematic structural diagram of a receiving optical lens in Embodiment 1 of the present invention;

[0046] Figure 7 1 is a schematic structural diagram of a transmitting diffraction component in Embodiment 1 of the present invention;

[0047] Figure 8 yes Figure 7 Schematic diagram of the structure of the mid-emission diffraction component from another angle;

[0048] Figure 9 This is a structural diagram of a support frame in Example 1 of the present invention;

[0049] Figure 10 yes Figure 9 A schematic diagram of the structure of the middle support frame from another angle;

[0050] Figure 11 yes Figure 10 AA cross-sectional diagram of .

[0051] In the picture:

[0052] 1: Lens base;

[0053] 11: shaft hole;

[0054] 111: shaft hole matching surface;

[0055] 12: Reference mirror mounting surface;

[0056] 13: Front mounting surface of the lens base;

[0057] 14: Upper mounting surface of the lens base; 2: Reference mirror assembly;

[0058] 3: Receiving optical lens;

[0059] 31: Mounting ring;

[0060] 32: peripheral mating surface;

[0061] 4: Focus ring;

[0062] 41: Focus ring mounting surface;

[0063] 5: Imaging components;

[0064] 6: Transmitting diffraction component;

[0065] 61: annular mounting seat;

[0066] 611: connecting ring;

[0067] 6111: Mating surface of connecting ring;

[0068] 612: Adjust waist hole;

[0069] 613: Mounting surface of annular mounting seat;

[0070] 62: diffraction element;

[0071] 63: Protective glass;

[0072] 7: first reflector;

[0073] 8: Laser beam collimation isolator assembly;

[0074] 81: second reflector;

[0075] 9: regulating mechanism;

[0076] 91: gasket;

[0077] 911: gasket contact surface; 10: support frame;

[0078] 101: annular connecting seat;

[0079] 102: support seat;

[0080] 1021: L-shaped channel;

[0081] 10211: mating surface in hole;

[0082] 1022: mounting surface of support seat;

[0083] 1023: connecting round hole;

[0084] 103: support rod;

[0085] 100: laser beam;

[0086] 200: emit beam;

[0087] 300: Field of view of the receiving optical lens. DETAILED DESCRIPTION

[0088] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0089] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or optical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0090] In addition, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0091] Example 1

[0092] See also Figures 1 to 3 As shown, an alignment and correction device for space laser three-dimensional imaging of a spacecraft provided by an embodiment of the present invention includes a lens base 1, a reference mirror assembly 2, a receiving optical lens 3, a focusing ring 4, an imaging assembly 5, a transmitting diffraction assembly 6, a first reflector 7 and a laser beam collimation isolator assembly 8.

[0093] See also Figure 1 and Figure 5As shown, the lens base 1 has an axial hole 11, and a reference mirror mounting surface 12 is provided on the outside of the lens base 1. The reference mirror assembly 2 is fixedly mounted on the reference mirror mounting surface 12 of the lens base 1 for calibration. The reference mirror assembly 2 is a conventional structure and will not be described in detail here.

[0094] See also Figure 1 、 Figure 2 and Figure 6 As shown, the receiving optical lens 3 is inserted into the axial hole 11, and a mounting ring 31 is provided on its periphery. The mounting ring 31 has connecting holes circumferentially, forming a flange structure. The focusing ring 4 also has connecting holes circumferentially, forming a flange structure. The front mounting surface 13 of the lens base is also provided with connecting holes. The receiving optical lens 3 is removably connected to the front mounting surface 13 of the lens base via screws and the cooperation of the mounting ring 31 and the focusing ring 4.

[0095] The imaging component 5 is located at the rear end of the receiving optical lens 3. By replacing the focusing ring 4 with different thicknesses, the image quality of the receiving optical lens 3 on the target surface of the imaging component can be adjusted to achieve the best image quality of the receiving optical lens 3 on the target surface of the imaging component.

[0096] See also Figures 1 to 3 and Figure 6 As shown, the transmitting diffraction assembly 6 is mounted at the front end of the receiving optical lens 3. The optical axis of the transmitting diffraction assembly 6 is aligned with the optical axis of the receiving optical lens 6 and is perpendicular to the target surface of the imaging assembly. The transmitting diffraction assembly 6 can rotate relative to the receiving optical lens 3 to adjust the roll direction of the transmitted light beam. A first reflector 7 is provided between the transmitting diffraction assembly 6 and the receiving optical lens 3 to change the direction of the laser beam. In one embodiment, the first reflector 7 is a 45° reflector.

[0097] See also Figures 1 to 4 As shown, a second reflector 81 is provided at the front end of the laser beam collimation isolator assembly 8. The laser beam collimation isolator assembly 8 is mounted on the upper side of the lens base 1 via an adjustment mechanism 9. The laser beam 100 emitted by the laser beam collimation isolator assembly 8 is reflected by the second reflector 81 and then incident downward on the first reflector 7. After being reflected by the first reflector 7, it enters the transmitting diffraction assembly 6, forming an emission beam 200 with a certain divergence angle. After being reflected by the target to be measured, the emission beam 200 enters the field of view 300 of the receiving optical lens and reaches the target surface of the imaging assembly, forming the beam splitting and micron-level alignment imaging link for the entire spatial laser three-dimensional imaging. In one specific embodiment, the second reflector 81 is a 45° reflector.

[0098] See also Figure 1 、 Figure 2 and Figure 5As shown, the adjustment mechanism 9 has three adjustment parts distributed in a triangular shape. By adjusting the height of each adjustment part separately, different height combinations can be formed to achieve adjustment of the emitted light beam around the pitch and yaw directions. In some specific embodiments, the adjustment part is a gasket 91. By replacing gaskets 91 of different thicknesses or stacking different numbers of gaskets 91, each adjustment part can have a different height, thereby achieving adjustment of the emitted light beam around the pitch and yaw directions. Of course, in other embodiments, there can also be four, five, or other number of adjustment parts. In some embodiments, the adjustment part can also be a telescopic structure capable of adjusting the height.

[0099] During use, the laser beam emitted by the laser beam collimation isolator assembly 8 of the alignment and correction device of this embodiment can change the direction of the laser beam through the second reflector 81 and the first reflector 7, so that the transmitted beam is aligned with the optical axis of the receiving optical lens 3 and is directed toward the target to be measured. After being reflected by the target to be measured, it enters the field of view of the receiving optical lens. As needed, a focus ring 4 of appropriate thickness can be used to optimize the image quality of the receiving optical lens 3 on the target surface of the imaging component. By rotating and adjusting the transmitting diffraction assembly 6, the rolling direction of the transmitted beam is adjusted so that the horizontal and vertical directions of the laser dot array are consistent with the position of the pixel array on the target surface of the imaging component. By using an adjustment part of appropriate height, the pitch and yaw directions of the transmitted beam are adjusted so that the position of each point of the laser dot array falls completely within the pixel array on the target surface of the imaging component. This alignment and correction device can achieve an alignment accuracy of less than 5μm between the laser dot array on the target surface of the imaging component and the pixel at the corresponding position.

[0100] The alignment and correction device of this embodiment performs beam splitting and micron-level alignment correction on a space laser 3D imaging system. By adjusting the roll, pitch, and yaw of the transmitted beam, micron-level alignment of the laser array on the target surface of the imaging component is achieved. This results in a longer imaging range and higher imaging accuracy under the same laser energy, volume, and weight constraints. This reduces the overall size and weight, making it suitable for aerospace engineering applications, particularly deep space exploration missions with extremely stringent weight requirements.

[0101] The alignment and correction device in this embodiment can lay the foundation for the engineering implementation and experimental verification of laser three-dimensional imaging in the field of space photoelectric measurement and perception, and has great scientific significance and engineering application value.

[0102] In one embodiment, according to the solution of this embodiment, the weight of the entire alignment correction device can be no more than 1200 grams; wherein the imaging component weighs no more than 200 grams and has a volume no more than 60*60*130mm. 3; The weight of the receiving optical lens shall not exceed 400 grams; the weight of the transmitting diffraction component shall not exceed 10 grams; the weight of the main structure of the lens shall not exceed 350 grams; the weight of the laser beam collimation isolator component shall not exceed 150 grams.

[0103] In some embodiments, see Figure 1 、 Figure 3 、 Figure 6 、 Figures 9 to 11 As shown, the emitting diffraction component 6 is installed on the front end of the receiving optical lens 3 through a support frame 10. The support frame 10 includes an annular connecting seat 101 and a support seat 102 located on the axis of the annular connecting seat 101. The support seat 102 is connected to the annular connecting seat 101 through a support rod 103. An L-shaped channel 1021 is provided on the support seat 102. The first end of the L-shaped channel 1021 is located on the upper side of the support seat 102, and the second end is located at the front end of the support seat 102. The first reflector 7 is arranged in the L-shaped channel 1021. A plurality of connecting circular holes 1023 are provided on the support seat 102 around the axis of the second end of the L-shaped channel 1021. The annular connecting seat 101 is coaxially sleeved on the front end of the receiving optical lens 3, and the second end of the L-shaped channel 1021 is coaxial with the annular connecting seat 101.

[0104] See also Figure 7 and Figure 8 As shown, the emitting diffraction assembly 6 includes an annular mounting seat 61, a diffraction element 62 and a protective glass 63. The diffraction element 62 and the protective glass 63 are both embedded in the annular mounting seat 61, and the protective glass 63 is located on the front side of the diffraction element 62. A connecting ring 611 is provided at the rear end of the annular mounting seat 61. The connecting ring 611 is embedded in the second end of the L-shaped channel 1021. A plurality of adjustment waist holes 612 are provided on the circumference of the annular mounting seat 61, which are used to cooperate with the connecting circular holes 1023 to fix the emitting diffraction assembly 6 through screws.

[0105] In some preferred embodiments, the size of the pixel array on the target surface of the imaging component is the same as the size of the laser dot array of the emitting diffraction component.

[0106] In some preferred embodiments, the diameter of the laser beam 100 emitted from the laser light outlet of the laser beam collimation isolator assembly is no greater than φ9 mm, and can be specifically designed according to needs.

[0107] In order to ensure high rigidity and high stability, in some preferred embodiments, the lens base 1 is made of aluminum alloy or titanium alloy.

[0108] To reduce assembly difficulty and ensure alignment accuracy, in some embodiments, the flatness of the front mounting surface 13 of the lens base and the mounting surface of the mounting ring are both no greater than 0.002 mm. The cylindricity of the shaft hole mating surface 111 of the shaft hole 11 and the peripheral mating surface 32 for receiving the optical lens are both no greater than 0.008 mm. The flatness of the focus ring mounting surfaces 41 at both ends of the focus ring 4 is no greater than 0.0015 mm, and the parallelism of the two focus ring mounting surfaces 41 is no greater than 0.002 mm.

[0109] Similarly, to reduce assembly difficulty and ensure alignment accuracy, in some embodiments, the flatness of the reference mirror mounting surface 12 is no greater than 0.002 mm, and the perpendicularity between the reference mirror mounting surface 12 and the front mounting surface 13 of the lens base is no greater than 0.005 mm. The flatness of the mounting surface of the reference mirror assembly (the side of the reference mirror assembly that contacts the reference mirror mounting surface 12) is no greater than 0.002 mm, and the perpendicularity between the mounting surface of the reference mirror assembly and the reference mirror surface on the side facing the field of view of the receiving optical lens is no greater than 0.003 mm.

[0110] To reduce assembly difficulty and ensure alignment accuracy, in some embodiments, the mounting surface 1022 of the support base for mounting the transmit diffraction assembly 6 has a flatness of no greater than 0.002 mm, and the cylindricity of the mating surface 10211 within the first end of the L-shaped channel for mating with the connecting ring 611 is no greater than 0.008 mm. The perpendicularity between the mounting surface 1022 of the support base and the axis of the second end of the L-shaped channel 1021 is no greater than 0.005 mm. The mounting surface 613 of the annular mounting base has a flatness of no greater than 0.002 mm, and the cylindricity of the mating surface 6111 of the connecting ring is no greater than 0.008 mm.

[0111] In order to reduce the difficulty of assembly and ensure the accuracy of alignment, in some embodiments, see Figure 5 As shown, the flatness of the upper mounting surface 14 of the lens base is no more than 0.002 mm, and the perpendicularity with the front mounting surface 13 of the lens base is no more than 0.005 mm. The flatness of the mounting surface of the laser beam collimating isolator assembly (the side of the laser beam collimating isolator assembly that contacts the upper mounting surface 14 of the lens base) is no more than 0.002 mm. The flatness of the mounting surfaces of the adjusting portion at both ends of the adjusting portion is no more than 0.0015 mm, and the parallelism of the two mounting surfaces of the adjusting portion is no more than 0.002 mm. For example, when the adjusting portion is a gasket 91, the gasket contact surfaces at both ends of the gasket 91 are mounting surfaces, and their flatness is no more than 0.0015 mm, and the parallelism of the two gasket contact surfaces is no more than 0.002 mm.

[0112] Example 2

[0113] The second embodiment provides an alignment correction method for space laser three-dimensional imaging of a spacecraft. The method uses any one of the alignment correction devices in the first embodiment to perform alignment correction as follows:

[0114] Step 1: Use a theodolite to calibrate the three mutually perpendicular surfaces of the reference mirror assembly as the calibration reference for subsequent steps.

[0115] Step 2: Use a theodolite to calibrate the position of the transmitting diffraction component at the same position.

[0116] Step three: Use a theodolite to calibrate the position of the laser beam collimator isolator assembly at the same position.

[0117] Step 4: Use the calibration data obtained in steps (1) to (3) as the initial basis data for adjustment in subsequent steps.

[0118] Step 5: Place a calibration-specific imaging target at the standard object distance of the receiving optical lens.

[0119] Step six, adjust the emitting diffraction component so that it rotates relative to the receiving optical lens to adjust the rolling direction of the emitting light beam until the horizontal and vertical directions of the laser dot matrix are consistent with the position of the pixel array on the target surface of the imaging component, and the position deviation is within 20μm, and then tighten the emitting diffraction component.

[0120] Step seven: Adjust the height of each adjustment part as needed to ensure the required height difference between each adjustment part, and adjust the pitch and yaw directions of the emitted light beam until the positions of each point of the laser dot array completely fall into the pixel array on the target surface of the imaging component, with a position deviation within 5μm, and tighten the laser beam collimation isolator assembly.

[0121] Step 8: If the position deviation requirement of less than 5 μm is not met, repeat steps 6 and 7 until the requirement is met.

[0122] The entire adjustment operation process of this alignment correction method is simple and easy to operate. By adjusting the roll, pitch and yaw directions of the emission light beam, micron-level alignment of the laser dot array on the target surface of the imaging component is achieved.

[0123] Parts of the present invention that are not described in detail belong to common knowledge among those skilled in the art.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that not every embodiment contains only one independent technical solution. In the absence of a conflict of solutions, the various technical features mentioned in each embodiment can be combined in any manner to form other implementation methods that can be understood by those skilled in the art.

[0125] In addition, without departing from the scope of the present invention, the technical solutions described in the aforementioned embodiments may be modified, or some of the technical features thereof may be replaced by equivalents, without causing the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An alignment and correction device for space laser three-dimensional imaging of a spacecraft, characterized in that: include: A lens base having an axial hole and a reference mirror mounting surface on the outer side; A reference mirror assembly is fixedly mounted on the reference mirror mounting surface of the lens base; The optical lens is received and is passed through the shaft hole. A mounting ring is provided on the outer periphery of the optical lens. The mounting ring is detachably connected to the front mounting surface of the lens base through a focusing ring. An imaging assembly is located at the rear end of the receiving optical lens, and the image quality of the receiving optical lens on the target surface of the imaging assembly can be adjusted by replacing the focusing ring with different thicknesses; a transmitting diffraction assembly mounted at the front end of the receiving optical lens, wherein the optical axis of the transmitting diffraction assembly and the optical axis of the receiving optical lens are located on the same straight line and are perpendicular to the target surface of the imaging assembly; the transmitting diffraction assembly is rotatable relative to the receiving optical lens, and a first reflector is provided between the transmitting diffraction assembly and the receiving optical lens; and A laser beam collimation isolator assembly is provided with a second reflector at the front end. The laser beam collimation isolator assembly is installed on the upper side of the lens base through an adjustment mechanism. The laser beam emitted by the laser beam collimation isolator assembly is reflected by the second reflector and then incident downward on the first reflector. After being reflected by the first reflector, it enters the emitting diffraction assembly to form an emitting beam with a certain divergence angle. After being reflected by the target to be measured, the emitting beam enters the field of view of the receiving optical lens and reaches the target surface of the imaging assembly, constituting the beam splitting and micron-level alignment imaging link of the entire spatial laser three-dimensional imaging. The adjustment mechanism has at least three adjustment parts distributed in a triangle, which can form different height combinations by adjusting the height of each adjustment part separately, thereby realizing the adjustment of the emitting beam around the pitch and yaw directions.

2. The alignment correction device according to claim 1, wherein: The transmitting diffraction assembly is mounted on the front end of the receiving optical lens through a support frame, the support frame includes an annular connecting seat and a support seat located on the axis of the annular connecting seat, the support seat is connected to the annular connecting seat through a support rod, an L-shaped channel is provided on the support seat, a first end of the L-shaped channel is located on the upper side of the support seat, and a second end is located at the front end of the support seat, the first reflector is arranged in the L-shaped channel, a plurality of connecting circular holes are provided on the support seat around the axis of the second end of the L-shaped channel, the annular connecting seat is coaxially sleeved on the front end of the receiving optical lens, and the second end of the L-shaped channel is coaxial with the annular connecting seat; The emitting diffraction assembly includes an annular mounting seat, a diffraction element and a protective glass. The diffraction element and the protective glass are both embedded in the annular mounting seat, and the protective glass is located on the front side of the diffraction element. A connecting ring is provided at the rear end of the annular mounting seat, and the connecting ring is embedded in the second end of the L-shaped channel. A plurality of adjustment waist holes are provided on the circumference of the annular mounting seat, which are used to cooperate with the connecting circular holes to fix the emitting diffraction assembly through screws.

3. The alignment correction device according to claim 1, wherein: The adjusting portion is a gasket.

4. The alignment correction device according to claim 1, wherein: The size of the pixel array on the target surface of the imaging component is the same as the size of the laser dot array of the emitting diffraction component.

5. The alignment correction device according to claim 1, wherein: The lens base is made of aluminum alloy or titanium alloy.

6. The alignment correction device according to claim 1, wherein: The flatness of the front mounting surface of the lens base and the mounting surface of the mounting ring are both no greater than 0.002 mm; The cylindricity of the shaft hole matching surface of the shaft hole and the peripheral matching surface of the receiving optical lens is not greater than 0.008mm; The flatness of the focus ring mounting surfaces at both ends of the focus ring is no greater than 0.0015 mm, and the parallelism of the two focus ring mounting surfaces is no greater than 0.002 mm.

7. The alignment correction device according to claim 6, characterized in that: The flatness of the reference mirror mounting surface is not greater than 0.002 mm, and the perpendicularity between the reference mirror mounting surface and the front end mounting surface of the lens base is not greater than 0.005 mm; The flatness of the mounting surface of the reference mirror assembly is no more than 0.002 mm, and the perpendicularity between the mounting surface of the reference mirror assembly and the reference mirror surface on the viewing direction side of the receiving optical lens is no more than 0.003 mm.

8. The alignment correction device according to claim 2, wherein: The flatness of the mounting surface of the support base for mounting the transmit diffraction assembly is no greater than 0.002 mm, the cylindricity of the mating surface in the hole of the first end of the L-shaped channel for mating with the connecting ring is no greater than 0.008 mm, and the perpendicularity between the mounting surface of the support base and the axis of the second end of the L-shaped channel is no greater than 0.005 mm; The flatness of the mounting surface of the annular mounting seat is not greater than 0.002 mm, and the cylindricity of the matching surface of the connecting ring is not greater than 0.008 mm.

9. The alignment correction device according to claim 1, wherein: The flatness of the upper mounting surface of the lens base is not greater than 0.002 mm, and the perpendicularity with the front mounting surface of the lens base is not greater than 0.005 mm; The flatness of the mounting surface of the laser beam collimating isolator assembly is not greater than 0.002 mm; The flatness of the adjusting portion mounting surfaces at both ends of the adjusting portion is no greater than 0.0015 mm, and the parallelism of the two adjusting portion mounting surfaces is no greater than 0.002 mm.

10. A method for alignment and correction of space laser three-dimensional imaging of a spacecraft, characterized by: The steps of performing alignment correction using the alignment correction device according to any one of claims 1 to 9 include: (1) Use a theodolite to calibrate the three mutually perpendicular planes of the reference mirror assembly as the calibration reference for subsequent steps; (2) Use theodolite to calibrate the position of the transmitting diffraction component at the same position; (3) Use a theodolite to calibrate the position of the laser beam collimator isolator assembly at the same position; (4) Using the calibration data obtained in steps (1) to (3) as the initial basis data for adjustment in subsequent steps; (5) Place a calibration-specific imaging target at the standard object distance of the receiving optical lens; (6) Adjust the transmitting diffraction assembly so that the transmitting diffraction assembly rotates relative to the receiving optical lens to adjust the rolling direction of the transmitting light beam until the horizontal and vertical directions of the laser dot array are consistent with the position of the pixel array on the target surface of the imaging assembly, and the position deviation is within 20 μm, and then tighten the transmitting diffraction assembly; (7) Adjust the height of each adjustment part as needed to ensure that there is a required height difference between each adjustment part, and adjust the pitch and yaw directions of the emitted light beam until the position of each point of the laser dot array completely falls into the pixel array on the target surface of the imaging component, and the position deviation is within 5 μm, and tighten the laser beam collimation isolator assembly; (8) If the position deviation requirement of less than 5 μm is not met, repeat steps (6) and (7) until the requirement is met.

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