A laser radar optical system and installation method thereof

Abstract

The present application relates to the field of optomechanical and electrical integration equipment, and specifically discloses a laser radar optical system and its installation method, which includes a sequentially arranged transmission reflector, a correction plate, a secondary mirror, a primary mirror that forms a self-collimation system with the secondary mirror, and a laser radar detector, wherein the correction plate is set as an aspheric surface, and the transmission reflector, the secondary mirror, and the primary mirror are all set as spherical surfaces, focusing on the first focal position of the secondary mirror, reflecting through the secondary mirror, and then focusing through the middle aperture of the primary mirror to the position of the laser radar detector. The present application reduces the overall size of the radar, corrects the system spherical aberration, improves the utilization rate of the echo signal of the receiving system, and meets the requirements of compactness and low cost.

Description

Technical Field

[0001] The present application relates to the field of optomechanical and electrical integration equipment, and in particular to a laser radar optical system and an installation method thereof. Background Art

[0002] The existing structures of laser radar receiving optical systems are mainly as follows:

[0003] 1. Conventional three-piece receiving mirror group: usually used in the receiving system of laser radar, but due to the limitation of radar size, such as too long focal length and too long total optical path, the size of the overall radar is too large and the internal structure is not easy to layout. Therefore, the use of reflective receiving system can greatly shorten the overall size of the radar;

[0004] 2. Newtonian system: The radar receiving system can also adopt the Newtonian telescope system, which uses a parabolic reflector as the main mirror and a plane reflector to refract the light path before the focus. However, due to its small field of view and long system length, it is usually used in a simple receiving optical system.

[0005] With respect to the above-mentioned related technologies, the structures of several laser radar receiving optical systems mostly have the problems of small field of view, long system, long focal length, and the need to correct the spherical aberration on the system axis. Summary of the invention

[0006] In order to improve the problems in the prior art of the laser radar receiving optical system in which the structure is too large, the field of view is small, and the system has on-axis spherical aberration, the present application provides a laser radar optical system and an installation method thereof.

[0007] The present application provides a laser radar optical system that adopts the following technical solution:

[0008] A laser radar optical system comprises a transmission reflector, a correction plate, a secondary mirror, a primary mirror which forms a self-collimation system with the secondary mirror, and a laser radar detector which are arranged in sequence, wherein the correction plate is arranged as an aspheric surface, and the transmission reflector, the secondary mirror, and the primary mirror are all arranged as spherical surfaces, focusing on a first focal position of the secondary mirror, reflecting through the secondary mirror, and then focusing to a position where the laser radar detector is located through an intermediate aperture of the primary mirror.

[0009] Optionally, the correction plate is configured as a plano-convex lens, and is an aspherical lens, the primary mirror is a concave spherical reflector, and the secondary mirror is configured as a plane reflector.

[0010] Optionally, the primary mirror has an aperture of 35-45 mm, and the middle opening has an aperture of 16-18 mm; the secondary mirror has an aperture of 22-25 mm, and the transmission reflector has an aperture of 56 mm.

[0011] Optionally, the transmission reflector is placed at 45°, the distance between the transmission reflector and the correction plate is 20 mm, the distance between the correction plate and the primary mirror is 33 mm, the distance between the primary mirror and the secondary mirror is 28 mm, and the distance between the secondary mirror and the lidar detector is 80 mm.

[0012] The present application also provides a method for installing a laser radar optical system using the following technical solution:

[0013] A method for installing a laser radar optical system comprises the following steps:

[0014] S1. Determine the focal plane position and the center line, determine the laser radar detector position and determine the center line position according to the laser radar detector position;

[0015] S2. Install the primary mirror so that the center of the primary mirror opening is colinear with the center line, and use a positioning device to accurately locate the center of the primary mirror opening;

[0016] S3, installing the secondary mirror, placing the center of the secondary mirror on the center line according to the distance between the secondary mirror and the primary mirror and the alignment device, and then installing and fixing the secondary mirror;

[0017] S4, installation of the correction plate, centering and distance-fixing the correction plate and the secondary mirror through the connection device;

[0018] S5. Install the transmission reflector, ensure that the center of the transmission reflector is located on the center line and the angle between the plane where the transmission reflector is located and the center line is 45°, and the detection device calibrates the inclination angle of the transmission reflector.

[0019] Optionally, in S1, the centerline position and the positioning device position are determined by a first infrared transmitter and a first infrared receiver, the first infrared transmitter is installed at the laser radar detector position, the positioning device includes a spotlight, a center plate, a battery, a positive plate, an electric wire, a negative plate and a trigger assembly for triggering the movement of the negative plate, the first infrared receiver is used to locate the trigger assembly position, the center plate and the main mirror opening are clearance-fitted, the spotlight is fixed on a side of the center plate away from the first infrared transmitter, a trigger hole is provided at the center of a side of the center plate away from the spotlight, one end of the electric wire is connected to the spotlight, and the spotlight is connected to the positive plate, the other end of the electric wire is connected to the negative plate, and the negative plate is elastically disposed in the trigger hole.

[0020] Optionally, the trigger assembly includes a trigger frame that is detachably fixed to the laser radar detector, a probe elastically arranged on the trigger frame, and a first electromagnet for adsorbing the probe to the trigger frame, the first electromagnet is electrically connected to the first infrared receiver, and the first infrared receiver is fixed at the tail end of the probe.

[0021] Optionally, the alignment device includes a vacuum column, a vacuum suction cup fixed at one end of the vacuum column, a vacuum pump for evacuating the vacuum column, a light sensor for sensing the spotlight, an air intake pipe, and a solenoid valve arranged on the air intake pipe, the vacuum suction cup is adsorbed on the center of the secondary mirror, the air intake pipe is connected to the vacuum column, the vacuum column is connected to the vacuum suction cup, and the light sensor is electrically connected to the solenoid valve.

[0022] Optionally, the connecting device includes a connecting column, a connecting suction cup connected to one open end of the connecting column, a connecting tube connected to the connecting column, a scale rod elastically arranged on the connecting tube, and an identification component for indicating that the installation of the correction plate is complete. The vacuum pump evacuates the connecting column, the connecting suction cup is adsorbed on the secondary mirror and is located on both sides of the secondary mirror with the vacuum column, both ends of the connecting tube are opened, and the outer wall of the scale rod and the outer wall of the connecting tube are provided with scale values.

[0023] Optionally, the identification component includes an identification film, an identification hole is provided at one end of the connecting column away from the connecting suction cup, the identification film is fixed to the connecting column and used to block the identification hole, and the end of the scale rod away from the correction plate is set as a pointed end, and the scale rod pierces the identification film when the distance between the correction plate and the secondary mirror is installed in place.

[0024] In summary, the present application includes at least one of the following beneficial technical effects:

[0025] 1. Compared with the traditional three-piece receiving system and Newtonian system structure, the overall size of the radar is greatly reduced, and the system spherical aberration is corrected, the utilization rate of the echo signal of the receiving system is improved, and the requirements of compactness and low cost are met. The above structure is compact and reasonable, easy to manufacture and assemble, low cost, suitable for mass production, effectively overcomes various shortcomings in the existing technology and has high industrial utilization value;

[0026] 2. When the first infrared receiver recognizes the signal sent by the first infrared transmitter, the electromagnet is powered off and demagnetized to release the probe. Under the elastic force of the first spring to restore its original shape, the probe is driven to move toward the trigger hole. If the probe is inserted into the trigger hole and pushes the negative electrode sheet, the limiting block moves in the limiting groove until the negative electrode sheet moves to connect with the negative electrode of the battery. At this time, the spotlight is powered on and starts working, which proves that the trigger hole of the center sheet is located on the center line, and the installation of the main mirror is completed. If the probe cannot be inserted into the trigger hole, it proves that the center of the main mirror is not on the center line and the position of the main mirror needs to be adjusted.

[0027] 3. When the spotlight is turned on, the light sensor receives the light signal from the spotlight, and then starts to trigger the solenoid valve to work. The solenoid valve opens, and the air pressure in the vacuum column is consistent with the air pressure in the environment, and then the vacuum suction cup begins to fall off the secondary mirror, which proves that the installation of the secondary mirror is completed. If the light sensor is not on the center line, the light sensor cannot receive the signal from the spotlight, and the vacuum suction cup will not fall off the secondary mirror. The position of the secondary mirror needs to be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the first embodiment of the present application;

[0029] Figure 2 This is a schematic diagram of the installation of the primary mirror in the second embodiment of the present application;

[0030] Figure 3 This is a schematic diagram of the installation of the correction plate and the secondary mirror in the second embodiment of the present application;

[0031] Figure 4 It is a schematic diagram of the transparent emitting mirror and the detection device in the second embodiment of the present application.

[0032] Figure numerals: 1. lens reflector; 2. correction plate; 3. secondary mirror; 4. primary mirror; 5. laser radar detector; 6. first infrared transmitter; 7. first infrared receiver; 8. center plate; 9. spotlight; 10. battery; 11. positive plate; 12. electric wire; 13. negative plate; 14. trigger hole; 15. trigger frame; 16. probe; 17. first electromagnet; 18. vacuum column; 19. vacuum suction cup; 20. vacuum pump; 21. light sensor; 22. air intake pipe; 23. solenoid valve; 24. connecting column; 25. connecting suction cup; 26. connecting tube; 27. scale rod; 28. marking film; 29. ​​marking hole; 30. triangle plate; 31. level; 32. fixing rod; 33. detection needle; 34. recording block; 35. buzzer; 36. slide groove; 37. proximity switch. DETAILED DESCRIPTION

[0033] The following is combined with Figure 1-4 This application is described in further detail.

[0034] Embodiment 1

[0035] The present application embodiment discloses a laser radar optical system. Figure 1 A laser radar optical system includes a transmission reflector, a correction plate 2, a secondary mirror 3, a primary mirror 4 forming a self-collimation system with the secondary mirror 3, and a laser radar detector 5, wherein the correction plate 2 is set as an aspheric surface, and the transmission reflector, the secondary mirror 3 and the primary mirror 4 are all set as spherical surfaces; the laser radar receiving system has an aperture of 38mm, an operating wavelength of 905nm, a field of view of ±10°, a transmission reflector with an aperture of 56mm, a thickness of 1.5mm, and is placed at 45°. The material is H-K9L. The correction plate 2 adopts a plano-convex lens, which is an aspheric lens. In the present embodiment, the correction plate 2 lens preferably has an aperture of 38 mm, a first surface curvature radius of 217.2167 mm, a thickness of 1.6 mm, a second surface curvature radius of infinite, and the material is BK7; in the present embodiment, the primary mirror 4 adopts a concave spherical reflector with an aperture of 35-45 mm, preferably 35 mm, a curvature radius of -301.298 mm, a thickness of 1.5 mm, and a middle opening aperture of 16-18 mm; the secondary mirror 3 adopts a plane reflector with an aperture of 22-25 mm, preferably 22 mm, an infinite curvature radius, and a thickness of 1.5 mm; the transmission reflector is placed at 45°; the distance between the transmission reflector and the correction plate 2 is 20 mm, the distance between the correction plate 2 and the primary mirror 4 is 33 mm, the distance between the primary mirror 4 and the secondary mirror 3 is 28 mm, and the distance between the secondary mirror 3 and the laser radar detector 5 is 80 mm.

[0036] Reference Figure 1 , the recovered light beam passes through the transmission reflector and is reflected by the correction plate 2 on the primary mirror 4. The light beam is first focused on the secondary mirror 3, and then reflected by the mirror 3 again. The light beam passes through the opening of the primary mirror 4 and is focused to the second focal point, which is the position of the laser radar detector 5. The light beam is focused on the first focal position of the secondary mirror 3, is reflected by the secondary mirror 3, and then is focused to the laser radar detector 5 through the middle aperture of the primary mirror 4. In this embodiment, the echo light beam passing through the transmission reflector passes through the correction lens to reduce the spherical aberration of the primary mirror 4, so that it is reflected at the end of the primary mirror 4 and focused on the surface of the secondary mirror 3 for the first time. The secondary mirror 3 adopts a plane mirror to return the light through the middle light-transmitting area of ​​the primary mirror 4 and converge to the surface of the laser radar detector 5. Compared with the traditional three-piece receiving system and Newtonian system structure, the overall size of the radar is greatly reduced, and the system spherical aberration is corrected at the same time, the utilization rate of the echo signal of the receiving system is improved, and the requirements of compactness and low cost are met. The above structure is compact and reasonable, easy to make and assemble, low cost, suitable for mass production, effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0037] Embodiment 2

[0038] The present application embodiment discloses a method for installing a laser radar optical system. Figure 2 and Figure 3 , a method for installing a laser radar optical system comprises the following steps:

[0039] S1, determine the focal plane position and the center line, determine the position of the laser radar detector 5 and determine the center line position according to the position of the laser radar detector 5; in S1, the center line position and the positioning device position are determined by the first infrared transmitter 6 and the first infrared receiver 7. The first infrared transmitter 6 is installed at the position of the laser radar detector 5. In this embodiment, the emission point of the first infrared transmitter 6 is the second focusing point position, so the light emitted by the first infrared transmitter 6 is the center line position. Subsequently, it is necessary to ensure that when installing the transmission reflector, the correction plate 2, the secondary mirror 3 and the main mirror 4, it is necessary to ensure that the center points of the transmission reflector, the correction plate 2, the secondary mirror 3 and the main mirror 4 are all located on the set center line.

[0040] Reference Figure 2 and Figure 3 , S2, install the main mirror 4, install the center of the opening of the main mirror 4 colinearly with the center line, and use the positioning device to accurately locate the center position of the opening of the main mirror 4; the positioning device includes a spotlight 9, a center piece 8, a battery 10, a positive electrode piece 11, a wire 12, a negative electrode piece 13 and a trigger assembly for triggering the movement of the negative electrode piece 13. The center piece 8 and the opening of the main mirror 4 are clearance-matched. Of course, in this embodiment, it can also be an interference fit. While ensuring that the center piece 8 and the main mirror 4 are firmly fixed, it is also necessary to facilitate the removal of the center piece 8 and the main mirror 4. The length of the center piece 8 is greater than the thickness of the main mirror 4. The cross-sectional circle of the center piece 8 is adapted to the opening of the main mirror 4. The center piece 8 is fixed on the side of the center piece 8 away from the first infrared emitter 6. The light beam of the spotlight 9 needs to be ensured to be adapted to the center of the secondary mirror 3, so that the staff can judge whether the center of the secondary mirror 3 is located on the center line. The center piece 8 is away from A trigger hole 14 is provided at the center of one side of the spotlight 9, a battery 10 is installed in the trigger hole 14 and a length direction of the battery 10 is provided along a depth direction of the trigger hole 14, one end of the wire 12 is connected to the wiring terminal of the spotlight 9, the wiring terminal of the spotlight 9 is connected to the positive electrode sheet 11 of the battery 10, the other end of the wire 12 is connected to the negative electrode sheet 13, the negative electrode sheet 13 is elastically provided in the trigger hole 14, the cross-sectional size of the negative electrode sheet 13 is less than or equal to the aperture of the trigger hole 14, a limiting block is fixedly connected to the side wall of the negative electrode sheet 13, a limiting groove for limiting the sliding of the block is provided on the inner wall of the trigger hole 14, a spring is fixedly connected between either end of the limiting block and the inner wall of the corresponding end of the limiting groove, so as to realize the effect of elastic connection of the negative electrode sheet 13 in the trigger hole 14, and in the initial state, the spring is in the original shape, the negative electrode sheet 13 is not connected to the negative electrode of the battery 10, and the spotlight 9 is in the off state at this time.

[0041] Reference Figure 2The first infrared receiver 7 is used to locate the position of the trigger component, which can ensure that the trigger component determines whether the center of the main mirror 4 is located on the center line based on the center line. The trigger component includes a trigger frame 15 that can be detachably fixed to the laser radar detector 5, a probe 16 elastically set on the trigger frame 15, and a first electromagnet 17 for adsorbing the probe 16 to the trigger frame 15. The first electromagnet 17 is electrically connected to the first infrared receiver 7. The first electromagnet 17 and the first infrared receiver 7 are controlled and connected by a PLC controller. The trigger frame 15 is fixedly connected to the housing of the laser radar detector 5 by bolts. The top end of the probe 16 is set as a tip and the cross-sectional circular size of the end portion is smaller than that of the trigger hole 14. Aperture, the first infrared receiver 7 is fixed at the tail end of the probe 16. Since the first infrared transmitter 6 is at the center line position, it is necessary to ensure that the movement path of the probe 16 is also located on the center line, so as to ensure that the probe 16 verifies whether the center of the main mirror 4 is located on the center line. The trigger frame 15 is fixedly connected to a fixed rod, and the side wall of the probe 16 is fixedly connected to a moving block. The moving block is sleeved and slid on the fixed rod. The outer sleeve of the fixed rod is provided with a first spring. The two ends of the first spring are respectively fixedly connected to one end of the moving block and the corresponding wall of the trigger frame 15. The first electromagnet 17 can also adsorb the slider. In this embodiment, it is preferred that the first electromagnet 17 adsorbs the outer wall of the probe 16, and the first spring is in a compressed state.

[0042] When the first infrared receiver 7 recognizes the signal sent by the first infrared transmitter 6, the electromagnet is powered off and demagnetized to release the probe 16. Under the elastic force of the first spring restoring its original shape, the probe 16 is driven to move toward the trigger hole 14. If the probe 16 is inserted into the trigger hole 14 and pushes the negative electrode 13, the limiting block moves in the limiting groove until the negative electrode 13 moves to be connected to the negative electrode of the battery 10. At this time, the spotlight 9 is powered on and starts working, which proves that the trigger hole 14 of the center piece 8 is located on the center line, and the installation of the main mirror 4 is completed. If the probe 16 cannot be inserted into the trigger hole 14, it proves that the center of the main mirror 4 is not on the center line and the position of the main mirror 4 needs to be adjusted.

[0043] Reference Figure 2 and Figure 3, S3, install the secondary mirror 3, and after the center of the secondary mirror 3 is located on the center line according to the distance between the secondary mirror 3 and the primary mirror 4 and the alignment device, install and fix the secondary mirror 3; the alignment device includes a vacuum column 18, a vacuum suction cup 19 fixed at one end of the vacuum column 18, a vacuum pump 20 for evacuating the vacuum column 18, a light sensor 21 for sensing the spotlight 9, an air intake pipe 22 and a solenoid valve 23 arranged on the air intake pipe 22, the vacuum suction cup 19 is adsorbed on the center of the secondary mirror 3, the vacuum suction cup 19 is adsorbed on the center of the side of the secondary mirror 3 facing the primary mirror 4, the air intake pipe 22 is connected to the vacuum column 18, the vacuum pump 20 is installed in the external environment and vacuums the vacuum column 18, the light sensor 21 is installed at the end of the vacuum column 18 facing the setting, that is, the light emitted by the spotlight 9 is facing the light sensor 21, the light sensor 21 and the solenoid valve 23 are controlled and connected by a PLC controller; first, the vacuum suction cup 19 is placed at the center of the secondary mirror 3. At this time, the vacuum column 18 is evacuated by the vacuum pump 20, and the vacuum suction cup 19 is adsorbed at the center of the secondary mirror 3. The vacuum pump 20 is stopped, and the solenoid valve 23 is also in a closed state. When the spotlight 9 is turned on, the light sensor 21 receives the light signal of the spotlight 9, and the light sensor 21 starts to trigger the solenoid valve 23 to work. The solenoid valve 23 is opened, and the air pressure in the vacuum column 18 is consistent with the air pressure in the environment, and then the vacuum suction cup 19 starts to fall off from the secondary mirror 3, which proves that the installation of the secondary mirror 3 is completed. If the light sensor 21 is not on the center line, the light sensor 21 cannot receive the signal of the spotlight 9, and the vacuum suction cup 19 will not fall off the secondary mirror 3. The position of the secondary mirror 3 needs to be adjusted.

[0044] Reference Figure 3, S4, the correction plate 2 is installed, and the correction plate 2 and the secondary mirror 3 are centered and installed at a fixed distance through the connecting device; the connecting device includes a connecting column 24, a connecting suction cup 25 connected to one end of the opening of the connecting column 24, a connecting tube 26 connected to the connecting column 24, a scale rod 27 elastically set on the connecting tube 26, and an identification component for marking that the installation of the correction plate 2 is completed, the vacuum pump 20 can also perform a vacuum operation on the connecting column 24, the connecting suction cup 25 is adsorbed on the secondary mirror 3 and is respectively located on both sides of the secondary mirror 3 with the vacuum suction cup 19, the connecting suction cup 25 is also located at the center of the corresponding side wall of the secondary mirror 3, both ends of the connecting tube 26 are opened, the scale rod 27 slides in the connecting tube 26, and the air can flow from the connecting tube 26 to the connecting column 24, and the moving rod is fixedly connected to the side away from the scale value. The moving block and the inner wall of the connecting tube 26 are provided with a moving groove for sliding of the moving block, and both ends of the moving groove in the length direction are closed. A second spring is fixedly connected between any end of the moving block and the inner wall of the corresponding end of the moving groove, so that the scale rod 27 is elastically set in the connecting tube 26; the connecting tube 26 and the connecting suction cup 25 are also respectively located at the two ends of the connecting column 24, and the outer wall of the scale rod 27 and the outer wall of the connecting tube 26 are both provided with scale values. According to the distance between the correction plate 2 and the secondary mirror 3, the sizes of the connecting column 24 and the connecting suction cup 25 are first subtracted, and the remaining value is the value of the scale value outside the scale rod 27 plus the scale value outside the connecting tube 26. Since the size of the connecting tube 26 will not change, the length of the connecting tube 26 will continue to be subtracted, and the final value obtained is the size of the scale rod 27 leaking outside the connecting tube 26.

[0045] The identification component includes an identification film 28. An identification hole 29 is provided at one end of the connecting column 24 away from the connecting suction cup 25. The identification film 28 is fixed to the end of the connecting column 24 and is used to block the identification hole 29. The end of the scale rod 27 away from the correction plate 2 is set as a tip, which is convenient for the scale rod 27 to pierce the identification film 28. In the initial state, the size of the scale rod 27 exposed in the connecting tube 26 is larger than the set value, and the center of the correction plate 2 is abutted against the corresponding end of the scale rod 27, and the scale rod 27 is continuously squeezed, and the second spring is squeezed and deformed. , until the scale value of the scale rod 27 leaking out of the connecting tube 26 is equal to the set value, and the tip of the scale rod 27 pierces the identification film 28. At this time, since the identification film 28 begins to rupture, the air pressure inside the connecting suction cup 25 and the connecting column 24 is the same as the external environment, and the connecting suction cup 25 also falls off from the secondary mirror 3. Therefore, the staff can read the value outside the scale rod 27 and observe the moment when the connecting suction cup 25 falls. It can be judged that the adjustment of the distance between the correction plate 2 and the secondary mirror 3 is completed, and the installation of the correction plate 2 can be completed.

[0046] Reference Figure 4S5, install the transmission reflector, ensure that the center of the transmission reflector is located on the center line and the angle between the plane where the transmission reflector is located and the center line is 45°, and the detection device calibrates the inclination of the transmission reflector; the detection device includes a triangle plate 30, a level 31, a fixing rod 32 fixed in the triangle plate 30, a detection needle 33 elastically set in the fixing rod 32, and a recording component for recording the inclination of the transmission reflector. The cross section of the triangle plate 30 is set to an isosceles right triangle, that is, the angle between the hypotenuse of the triangle plate 30 and any right-angled side is 45°, and the triangle plate 30 is set to a right angle. It is set as a cavity and the hypotenuse of the triangle plate 30 is set as an opening, the spirit level 31 is set on the horizontal side wall of the triangle plate 30, the spirit level 31 is used to ensure that the triangle plate 30 is in a horizontal state, the position where the fixing rod 32 and the triangle plate 30 are fixed is located at a right angle to the triangle plate 30, and in this embodiment, the fixing rod 32 is perpendicular to the hypotenuse of the triangle plate 30, and a fixing hole is set in the fixing rod 32, the detection rod is slidably adapted in the fixing hole, and a third spring is fixedly connected between one end of the detection rod located in the fixing hole and the inner wall of the end of the fixing hole, so as to achieve the effect of elastic connection between the detection rod and the fixing rod 32.

[0047] The recording assembly includes a recording block 34, a proximity switch 37, and a buzzer 35 electrically connected to the proximity switch 37. The side wall of the fixed rod 32 is fixedly connected with a slide groove 36, and the slide groove 36 is communicated with the fixed hole. The slide groove 36 of the recording block 34 is fixedly connected to the side wall of the detection needle 33. The proximity switch 37 is fixed on the outer wall of the fixed rod 32 and close to the middle of the slide groove 36. The proximity switch 37 and the buzzer 35 are controlled by a PLC controller. First, it is necessary to ensure that the right angle side of the triangle plate 30 is in a horizontal state, and then the detection needle 33 is fitted with the surface of the transmission reflector, and at this time, the detection needle 33 is set. When the recording block 34 is in contact with the proximity switch 37 and the third spring is in its original shape, if the inclination angle of the transmission reflector is 45°, the probe 16 and the recording block 34 will not move, and the buzzer 35 will not sound an alarm; if the inclination angle of the transmission reflector is greater than 45° or less than 45°, the right-angled side of the triangle 30 still needs to be kept horizontal. At this time, the probe 16 will move toward the inside or outside of the fixed rod 32, and the recording block 34 will not contact the proximity switch 37, then the buzzer 35 will sound an alarm to prompt that the inclination angle of the transmission reflector needs to be adjusted.

[0048] The implementation principle of a method for installing a laser radar optical system in an embodiment of the present application is as follows: when the first infrared receiver 7 recognizes a signal sent by the first infrared transmitter 6, the electromagnet is powered off and demagnetized to release the probe 16. Under the elastic force of the first spring restoring its original shape, the probe 16 is driven to move toward the trigger hole 14. If the probe 16 is inserted into the trigger hole 14 and pushes the negative electrode sheet 13, the limiting block moves in the limiting groove until the negative electrode sheet 13 moves to be connected to the negative electrode of the battery 10. At this time, the spotlight 9 is powered on and starts working, which proves that the trigger hole 14 of the center sheet 8 is located on the center line, and the installation of the main mirror 4 is completed. If the probe 16 cannot be plugged into the trigger hole 14, it proves that the center of the main mirror 4 is not on the center line and the position of the main mirror 4 needs to be adjusted.

[0049] When the spotlight 9 is turned on, after the light sensor 21 receives the light signal of the spotlight 9, the light sensor 21 starts to trigger the solenoid valve 23 to work, the solenoid valve 23 opens, the air pressure in the vacuum column 18 is consistent with the air pressure in the environment, and then the vacuum suction cup 19 starts to fall off the secondary mirror 3, which proves that the installation of the secondary mirror 3 is completed. If the light sensor 21 is not on the center line, the light sensor 21 cannot receive the signal of the spotlight 9, the vacuum suction cup 19 will not fall off the secondary mirror 3, and the position of the secondary mirror 3 needs to be adjusted.

[0050] The center of the correction plate 2 is brought into contact with the corresponding end of the scale rod 27, and the scale rod 27 is continuously squeezed, the second spring is squeezed and deformed, until the scale value of the scale rod 27 outside the connecting tube 26 is equal to the set value, and the tip of the scale rod 27 pierces the identification film 28. At this time, since the identification film 28 begins to rupture, the air pressure inside the connecting suction cup 25 and the connecting column 24 is the same as the external environment, and the connecting suction cup 25 also falls off the secondary mirror 3. Therefore, the staff can read the value outside the scale rod 27 and observe the moment when the connecting suction cup 25 falls, and can judge that the distance adjustment between the correction plate 2 and the secondary mirror 3 is completed, and the installation of the correction plate 2 can be completed.

[0051] First, it is necessary to ensure that the right-angled side of the triangle plate 30 is in a horizontal state, and then the detection needle 33 is fitted with the surface of the transmission reflector, and the recording block 34 is set to contact the proximity switch 37, and the third spring is in the original state. If the inclination angle of the transmission reflector is 45°, the probe 16 and the recording block 34 will not move, and the buzzer 35 will not sound an alarm; if the inclination angle of the transmission reflector is greater than 45° or less than 45°, it is still necessary to keep the right-angled side of the triangle plate 30 in a horizontal state. At this time, the probe 16 will move toward the inside or outside of the fixed rod 32, and the recording block 34 will not contact the proximity switch 37, then the buzzer 35 will sound an alarm to prompt that the inclination angle of the transmission reflector needs to be adjusted.

[0052] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for installing a laser radar optical system, for installing the laser radar optical system, wherein the laser radar optical system comprises a transmission reflector, a correction plate (2), a secondary mirror (3), a primary mirror (4) and a laser radar detector (5) which are arranged in sequence, wherein the correction plate (2) is arranged as an aspheric surface, the transmission reflector, the secondary mirror (3) and the primary mirror (4) are all arranged as spherical surfaces, and the light focused on the first focal position of the secondary mirror (3) is reflected by the secondary mirror (3) and then focused to the position of the laser radar detector (5) through the middle aperture of the primary mirror (4), the correction plate (2) is arranged as a plano-convex lens and is an aspheric lens, the primary mirror (4) adopts a concave spherical reflector, and the secondary mirror (3) is arranged as a plane reflector, characterized in that: The steps include: S1, determining the focal plane position and the center line, determining the position of the laser radar detector (5) and determining the center line position according to the position of the laser radar detector (5); S2, installing the main mirror (4), installing the center of the opening of the main mirror (4) in line with the center line, and using a positioning device to accurately locate the center position of the opening of the main mirror (4); S3, installing the secondary mirror (3), positioning the center of the secondary mirror (3) on the center line according to the distance between the secondary mirror (3) and the primary mirror (4) and the alignment device, and then installing and fixing the secondary mirror (3); S4, installing the correction plate (2), centering the correction plate (2) and the secondary mirror (3) and installing them at a fixed distance by means of a connecting device; S5, installing the transmission reflector, ensuring that the center of the transmission reflector is located on the center line and the angle between the plane where the transmission reflector is located and the center line is 45°, and the detection device calibrates the inclination angle of the transmission reflector; In S1, the centerline position and the positioning device position are determined by a first infrared transmitter (6) and a first infrared receiver (7). The first infrared transmitter (6) is installed at the position of the laser radar detector (5). The positioning device includes a spotlight (9), a center plate (8), a battery (10), a positive plate (11), a wire (12), a negative plate (13), and a trigger component for triggering the movement of the negative plate (13). The first infrared receiver (7) is used to locate the position of the trigger component. The center plate (8) and the opening of the primary mirror (4) are clearance-matched. The spotlight (9) is fixed on a side of the center plate (8) away from the first infrared transmitter (6). The center of the side of the center plate (8) away from the spotlight (9) A trigger hole (14) is provided, one end of the electric wire (12) is connected to the spotlight (9), and the spotlight (9) is connected to the positive electrode sheet (11), the other end of the electric wire (12) is connected to the negative electrode sheet (13), and the negative electrode sheet (13) is elastically arranged in the trigger hole (14); the trigger component comprises a trigger frame (15) detachably fixed to the laser radar detector (5), a probe (16) elastically arranged on the trigger frame (15), and a first electromagnet (17) for adsorbing the probe (16) and the trigger frame (15), the first electromagnet (17) is electrically connected to the first infrared receiver (7), and the first infrared receiver (7) is fixed to the tail end of the probe (16).

2. The method for installing a laser radar optical system according to claim 1, characterized in that: The primary mirror (4) has a diameter of 35-45 mm, and the diameter of the middle opening is 16-18 mm; the secondary mirror (3) has a diameter of 22-25 mm, and the transmission reflector has a diameter of 56 mm.

3. The method for installing a laser radar optical system according to claim 2, characterized in that: The transmission reflector is placed at an angle of 45°, the distance between the transmission reflector and the correction plate (2) is 20 mm, the distance between the correction plate (2) and the primary mirror (4) is 33 mm, the distance between the primary mirror (4) and the secondary mirror (3) is 28 mm, and the distance between the secondary mirror (3) and the laser radar detector (5) is 80 mm.

4. The method for installing a laser radar optical system according to claim 1, characterized in that: The alignment device comprises a vacuum column (18), a vacuum suction cup (19) fixed at one end of the vacuum column (18), a vacuum pump (20) for evacuating the vacuum column (18), a light sensor (21) for sensing the spotlight (9), an air intake pipe (22), and a solenoid valve (23) arranged on the air intake pipe (22); the vacuum suction cup (19) is adsorbed on the center of the secondary mirror (3); the air intake pipe (22) is connected to the vacuum column (18); the vacuum column (18) is connected to the vacuum suction cup (19); the light sensor (21) is electrically connected to the solenoid valve (23).

5. The method for installing a laser radar optical system according to claim 4, characterized in that: The connecting device comprises a connecting column (24), a connecting suction cup (25) connected to an open end of the connecting column (24), a connecting tube (26) connected to the connecting column (24), a scale rod (27) elastically arranged on the connecting tube (26), and an identification component for indicating that the installation of the correction plate (2) is completed. The vacuum pump (20) evacuates the connecting column (24), the connecting suction cup (25) is adsorbed on the secondary mirror (3) and is respectively located on both sides of the secondary mirror (3) with the vacuum column (18), both ends of the connecting tube (26) are opened, and the outer wall of the scale rod (27) and the outer wall of the connecting tube (26) are both provided with scale values.

6. The method for installing a laser radar optical system according to claim 5, characterized in that: The identification component comprises an identification film (28); an identification hole (29) is provided at one end of the connecting column (24) away from the connecting suction cup (25); the identification film (28) is fixed to the connecting column (24) and is used to block the identification hole (29); an end of the scale rod (27) away from the correction plate (2) is provided with a pointed end; when the distance between the correction plate (2) and the secondary mirror (3) is installed in place, the scale rod (27) pierces the identification film (28).

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