Couder optical system with off-axis composite tracking and aiming and laser emission with common aperture and its assembly and adjustment method

Abstract

The present invention relates to an optical system and an adjustment method thereof, and specifically to a Coode optical system with a common aperture for off-axis composite tracking and aiming and laser emission and an adjustment method thereof, in order to solve the problem that the adjustment of the Coode optical path in the prior art only considers a single optical path, and cannot ensure that the outgoing light and the incident light point are consistent, resulting in a deviation between the laser irradiation point and the tracking and aiming point, and affecting the system performance. The Coode optical system with a common aperture for off-axis composite tracking and aiming and laser emission of the present invention comprises a mirror box, a horizontal theodolite, a laser emission component, a main optical component, a Coode optical path and a tracking imaging objective lens group, the Coode optical path is arranged based on the horizontal theodolite, the horizontal theodolite comprises a vertical rotation mechanism and a horizontal rotation component, the main optical component is arranged in the mirror box, and is connected to the Coode optical path through the horizontal rotation component, during adjustment, the Coode optical path and the main optical component are adjusted separately, and then adjusted to make their optical axes consistent, so as to achieve the consistency of the angle and position of the laser optical axis and the visible light visual axis.

Description

Technical Field

[0001] The invention relates to an optical system and an adjustment method thereof, and in particular to a Coode optical system with a common aperture for off-axis composite tracking and aiming and laser emission and an adjustment method thereof. Background Art

[0002] The composite tracking and aiming and laser emission common aperture Kuder optical system is widely used in laser communication, ghost imaging, laser radar, laser ranging and other fields. The common aperture Kuder optical system can realize the common optical axis and common pointing of laser emission and tracking and aiming system. The composite tracking design based on the common aperture Kuder optical system can realize the synchronous control of tracking pointing and aiming in the tracking and aiming system.

[0003] At present, the adjustment of the Kude optical path only considers a single optical path, and no adjustment is made to the consistency of the optical axis pointing of the multi-band and multi-optical paths in the common aperture Kude optical system. It cannot ensure that the outgoing light and the incident light are pointing in the same direction, resulting in a deviation between the laser irradiation point and the tracking and aiming point. For long-distance targets, the laser irradiation point may even be outside the field of view of the tracking and aiming system, affecting the system performance.

[0004] Chinese patent CN114609773A discloses a high-power laser Kuder optical path debugging method. This method uses dual detectors to monitor the change in the position of the reference crosshairs when the azimuth axis and the horizontal axis rotate to meet the laser spot position accuracy; the crosshairs are used to simulate the center of the laser spot. However, when the laser is actually installed, the lack of effective alignment monitoring will still introduce corresponding errors. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the existing technology only considers a single optical path in the adjustment of the Coode optical path, and cannot ensure that the outgoing light and the incident light are pointed in the same direction, resulting in a deviation between the laser irradiation point and the tracking and aiming point, which affects the system performance. A Coode optical system with a common aperture for off-axis composite tracking and aiming and laser emission and an adjustment method thereof are provided.

[0006] To achieve the above purpose, the technical solution provided by the present invention is as follows:

[0007] A Coode optical system with a common aperture for off-axis composite tracking and aiming and laser emission, which is special in that it includes a mirror box, a horizontal theodolite, a laser emission component, a main optical component, a Coode optical path and a tracking imaging objective lens group; the main optical component includes a primary mirror, a secondary mirror, a first folding axis reflector and a second folding axis reflector arranged in the mirror box and in sequence along the optical path; the primary mirror and the secondary mirror are both reflectors, and the incident end of the primary mirror is used to receive visible light reflected by the tracked target; the horizontal theodolite includes a vertical rotation mechanism, a rotating bracket arranged at the upper end of the vertical rotation mechanism and a horizontal rotation component arranged on the rotating bracket, and the vertical rotation mechanism and the horizontal rotation component rotate around their central axes respectively; the mirror box is connected to the horizontal rotation component; the Coode optical path includes a spectral beam splitter, a second Coode reflector, a first Coode reflector and a two-dimensional galvanometer arranged in sequence along the optical path; the spectral beam splitter and the second Coode reflector are arranged It is arranged on the central axis of the vertical rotating mechanism, and the spectral beam splitter is located on the laser emission optical path of the laser emission component, and is used to reflect the incident laser. The first Coode reflector and the two-dimensional galvanometer are arranged on the rotating bracket, and the two-dimensional galvanometer is located on the central axis of the horizontal rotating component; the second folding axis reflector is arranged on the reflection optical path of the two-dimensional galvanometer, and is used to reflect the laser reflected by the two-dimensional galvanometer to the first folding axis reflector, and reflect the visible light reflected by the first folding axis reflector to the two-dimensional galvanometer; the laser reflected by the second folding axis reflector is reflected to the main mirror via the first folding axis reflector and the secondary mirror in turn, and finally emitted from the main mirror; the visible light reflected by the second folding axis reflector is reflected to the spectral beam splitter via the two-dimensional galvanometer, the first Coode reflector, and the second Coode reflector in turn, and the tracking imaging objective lens group is arranged on the visible light transmission optical path of the spectral beam splitter, and is located on the central axis of the vertical rotating mechanism, and is used to perform tracking imaging.

[0008] Further, the primary mirror is a concave parabolic reflector, the curvature radius of the concave parabola is -2769.7 mm, the aspheric coefficient k is -1, and the off-axis amount is 430 mm;

[0009] The secondary mirror is a convex hyperbolic reflector, the hyperbolic curvature radius of which is -387.26 mm, and the aspheric coefficient k is -1.015;

[0010] The tracking imaging objective lens group is a fixed-focus visible light lens;

[0011] The focal length of the tracking imaging objective lens group is 350 mm, and the entrance pupil diameter is 50 mm.

[0012] Furthermore, the first folding-axis reflector, the second folding-axis reflector, the two-dimensional galvanometer, the first Coode reflector, and the second Coode reflector are all plane reflectors.

[0013] Furthermore, the rotating bracket includes a first bracket and a second bracket symmetrically arranged on both sides of the vertical rotating mechanism; the horizontal rotating assembly includes a first horizontal rotating mechanism and a second horizontal rotating mechanism;

[0014] The first bracket includes a first connecting arm and a second connecting arm, one end of the first connecting arm is connected to the upper end of the vertical rotation mechanism, and the central axis thereof is perpendicular to the central axis of the vertical rotation mechanism, the lower end of the second connecting arm is connected to the other end of the first connecting arm, and the first horizontal rotation mechanism is arranged at the upper end of the second connecting arm;

[0015] The structure of the second bracket is the same as that of the first bracket, and the second horizontal rotation mechanism is arranged at the upper end of the second connecting arm of the second bracket and is located on the same horizontal axis as the central axis of the first horizontal rotation mechanism;

[0016] The second Coode reflector is located at the upper end of the vertical rotating mechanism, the first Coode reflector is arranged at the lower end of the second connecting arm of the first bracket, the two-dimensional galvanometer is arranged at the upper end of the second connecting arm of the first bracket and is coaxial with the first horizontal rotating mechanism, and two optical windows are coaxially arranged on the inner and outer sides of the first horizontal rotating mechanism;

[0017] The mirror box is arranged between the first horizontal rotation mechanism and the second horizontal rotation mechanism. The mirror box is provided with a first window at the incident end corresponding to the primary mirror and a second window corresponding to the second folding axis reflector. The second window is coaxially arranged with the optical window.

[0018] At the same time, the present invention also provides a method for assembling and adjusting the above-mentioned off-axis composite tracking and aiming and laser emission common aperture Kuder optical system, which is special in that it includes the following steps:

[0019] S1. Adjust the Kude optical path: calibrate the first optical axis reference and the second optical axis reference, set the reference crosshairs in the optical path, use the autocollimation telescope to self-align and penetrate the reference crosshairs, and adjust the Kude optical path;

[0020] The first optical axis reference is the central axis of the vertical rotation mechanism, and the second optical axis reference is the central axis of the horizontal rotation assembly;

[0021] S2. Install and adjust the main optical components: set the reference crosshairs and the reference reflector in the optical path, use the autocollimation telescope to self-align and penetrate the reference crosshairs, install and adjust the secondary mirror, the first folding axis reflector and the second folding axis reflector; use the interferometer, the reference crosshairs and the reference reflector to measure the wave aberration, and install and adjust the primary mirror;

[0022] S3. Integrate the main optical components with the Kude optical path;

[0023] S4. Install the tracking imaging objective lens group;

[0024] S5. Adjust so that the optical axes of the tracking imaging objective lens group, the main optical assembly and the Kuder optical path are consistent;

[0025] S6. Install the laser emission assembly and complete the adjustment.

[0026] Furthermore, step S5 is specifically as follows:

[0027] A laser incident transceiver integrated light pipe is arranged at the laser incident end, and a transceiver integrated microlens array light pipe is arranged at the visible light incident end. In the non-array mode and array mode of the transceiver integrated microlens array light pipe, the main optical component and the Kuder optical path are adjusted respectively. Imaging is performed using the laser incident transceiver integrated light pipe, the transceiver integrated microlens array light pipe and the tracking imaging objective lens group so that the imaging deviation meets the set threshold.

[0028] Further, in step S5, the main optical component and the Kuder optical path are adjusted, and imaging is performed using the laser incident transceiver integrated light pipe, the transceiver integrated microlens array light pipe and the tracking imaging objective lens group, specifically:

[0029] Adjust the angles of the horizontal rotating assembly and the vertical rotating mechanism so that the laser emitted by the laser incident transceiver integrated light pipe passes through the Kude optical path and the main optical assembly, and is imaged at the center of the target surface of the transceiver integrated microlens array light pipe detector. At the same time, the laser emitted by the transceiver integrated microlens array light pipe passes through the main optical assembly and the Kude optical path, and is imaged at the center of the target surface of the laser incident transceiver integrated light pipe detector and the center of the detector target surface of the tracking imaging objective lens group.

[0030] The vertical rotation mechanism is controlled to rotate 180° around the vertical axis reference, and the main optical component is rotated 180° around the second optical axis reference as a whole, and imaging is performed using the laser incident transceiver integrated light pipe and the transceiver integrated microlens array light pipe.

[0031] Further, in step S5, the laser incident transceiver integrated light pipe includes a first laser light source, a first semi-transparent and semi-reflective mirror, a first collimating optical component and a first detector. The outgoing laser of the first laser light source is reflected by the first semi-transparent and semi-reflective mirror, and then collimated by the first collimating optical component before being emitted. The incident laser is transmitted through the first collimating optical component and the first semi-transparent and semi-reflective mirror to the first detector for imaging.

[0032] The transceiver integrated microlens array light pipe comprises a second laser light source, a second semi-transparent and semi-reflective mirror, a second collimating optical component, a second detector, and a microlens array or a lens group arranged at the receiving end of the second detector. The outgoing laser of the second laser light source is collimated by the second collimating optical component, and then reflected by the second semi-transparent and semi-reflective mirror before being emitted. The incident laser is transmitted by the second semi-transparent and semi-reflective mirror, and then passes through the microlens array or the lens group, and is received by the second detector for imaging.

[0033] Among them, in the non-array mode of the transceiver-integrated microlens array light pipe, the incident laser is transmitted through the second semi-transparent and semi-reflective mirror, and then passes through the lens group, and is received by the second detector and imaged; in the array mode of the transceiver-integrated microlens array light pipe, the incident laser is transmitted through the second semi-transparent and semi-reflective mirror, and then passes through the microlens array, and is received by the second detector and imaged.

[0034] Furthermore, step S1 is specifically as follows:

[0035] S1.1. Calibrate the first optical axis reference, set the spectrum spectroscope along the first optical axis reference, set the first reference crosshairs and the second reference crosshairs in the laser incident optical path and the laser reflected optical path respectively, adjust the attitude of the spectrum spectroscope, set the autocollimator telescope at the laser incident end, make the autocollimator telescope align and penetrate the first reference crosshairs and the second reference crosshairs at the same time, and complete the attitude adjustment of the spectrum spectroscope;

[0036] S1.2. Calibrate the second optical axis reference, set the third reference crosshair on the second optical axis reference, set the first Coode reflector, the second Coode reflector and the two-dimensional galvanometer, wherein the two-dimensional galvanometer is located on the second optical axis reference, adjust the postures of the first Coode reflector, the second Coode reflector and the two-dimensional galvanometer, so that the autocollimator can simultaneously align and penetrate the second reference crosshair and the third reference crosshair, and complete the Coode optical path adjustment;

[0037] Step S2 is specifically as follows:

[0038] S2.1. A fourth reference crosshair is set on the second window of the mirror box as the optical axis reference of the visible light output of the main optical component, and a reference reflector is set at the incident end of the visible light to ensure that the central axis of the reference reflector is perpendicular to the central axis of the fourth reference crosshair;

[0039] S2.2. Set a secondary mirror in the mirror box, and set a fifth reference crosshair coaxially with the secondary mirror; set a first folding axis reflector and a second folding axis reflector, set an autocollimator corresponding to the fourth reference crosshair, adjust the secondary mirror, the first folding axis reflector and the second folding axis reflector, so that the autocollimator can align and penetrate the fourth reference crosshair and the fifth reference crosshair, and complete the installation and adjustment of the secondary mirror, the first folding axis reflector and the second folding axis reflector;

[0040] S2.3. Set up an interferometer corresponding to the fourth reference crosshairs so that the interferometer and the fourth reference crosshairs are self-aligned, set up the primary mirror, and emit a laser through the interferometer, which passes through the fourth reference crosshairs and is reflected to the reference reflector by the second folding axis reflector, the first folding axis reflector, the secondary mirror, and the primary mirror in sequence, and then returns to the interferometer along the original path after being reflected by the reference reflector. Adjust the posture of the primary mirror so that the interferometer wave aberration meets the system requirements, complete the debugging of the primary mirror, and complete the installation and adjustment of the main optical components.

[0041] Furthermore, step S3 is specifically as follows:

[0042] The main optical component is connected to the Kuder optical path, and an autocollimator is arranged at the laser incident end, so that the autocollimator is simultaneously aligned and penetrated with the fourth reference crosshairs and the second reference crosshairs, thereby completing the integration of the main optical component and the Kuder optical path.

[0043] Beneficial effects of the present invention:

[0044] 1. The off-axis composite tracking and aiming and laser emission co-aperture Coode optical system of the present invention eliminates the obstruction of the laser by setting the primary mirror and the secondary mirror off-axis, and the double-folding-axis mirror design of the first folding-axis reflector and the second folding-axis reflector can ensure the consistency of the angle and position of the laser optical axis and the visible light visual axis.

[0045] 2. The method for assembling and adjusting the Coode optical system with off-axis composite tracking and aiming and laser emission co-aperture of the present invention sequentially assembles the Coode optical path and the main optical components, and then integrates them, and then assembles and adjusts the laser optical axis, the visible light visual axis, and the mechanical axis to achieve multi-band, multi-optical path co-aperture, ensure the debugging reference and the laser switching accuracy, and further ensure the consistency of the laser optical axis, the visible light visual axis, and the mechanical axis in the Coode optical system, thereby improving the consistency of the laser optical axis and the visible light visual axis and the accuracy of the laser spot position.

[0046] 3. In the optical axis consistency debugging of the assembling and adjusting method of the Coode optical system with off-axis composite tracking and aiming and laser emission sharing aperture, the optical axis consistency debugging is performed by rotating 180° around the vertical axis reference and 180° around the horizontal axis reference to ensure the dynamic consistency of the optical axis of the main optical component and the optical axis of the Coode optical path.

[0047] 4. In the assembly and adjustment method of the Coode optical system with a common aperture for off-axis composite tracking and aiming and laser emission of the present invention, after the assembly and adjustment, the coincidence, parallelism and position of the laser optical axis and the visible light visual axis all reach the set threshold value, ensuring that the laser optical axis and the visible light visual axis of the composite tracking and aiming have the same optical axis, and realizing the common pointing of the laser output light and the visible light of the composite tracking and aiming. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a schematic diagram of the principle of an embodiment of the Coode optical system with a common aperture for off-axis composite tracking and aiming and laser emission of the present invention;

[0049] Figure 2 It is a schematic structural diagram of the reference crosshairs used in the embodiment of the method for assembling and adjusting the off-axis composite tracking and aiming and laser emission common aperture Coode optical system of the present invention;

[0050] Figure 3 It is a schematic diagram of calibrating the vertical axis reference in the embodiment of the method for assembling and adjusting the off-axis composite tracking and aiming and laser emission common aperture Coode optical system of the present invention;

[0051] Figure 4 It is a schematic diagram of the adjustment of the spectrum splitter in the embodiment of the adjustment method of the Kuder optical system with a common aperture for off-axis composite tracking and aiming and laser emission of the present invention;

[0052] Figure 5 It is a schematic diagram of calibrating the horizontal axis reference in the embodiment of the method for assembling and adjusting the off-axis composite tracking and aiming and laser emission common aperture Coode optical system of the present invention;

[0053] Figure 6 It is a schematic diagram of the adjustment of the first Coode reflector, the second Coode reflector and the two-dimensional galvanometer in the embodiment of the Coode optical system adjustment method for off-axis composite tracking and aiming and laser emission with a common aperture of the present invention;

[0054] Figure 7 It is a schematic diagram of the alignment of the optical axis reference of the outgoing light of the visible light of the main optical component and the reference reflector in the embodiment of the alignment method of the Kude optical system with a common aperture for off-axis composite tracking and aiming and laser emission of the present invention;

[0055] Figure 8 It is a schematic diagram of the adjustment of the secondary mirror, the first folding axis reflector and the second folding axis reflector in the embodiment of the folding axis reflector method for the off-axis composite tracking and aiming and laser emission common aperture of the present invention;

[0056] Fig. 9 It is a schematic diagram of the adjustment of the primary mirror in an embodiment of the adjustment method of the Couder optical system with off-axis composite tracking and aiming and laser emission with a common aperture of the present invention;

[0057] Fig.10 It is a schematic structural diagram of the integration of the main optical component and the Kuder optical path in an embodiment of the Kuder optical system assembly and adjustment method for off-axis composite tracking and aiming and laser emission with a common aperture of the present invention;

[0058] Fig.11 It is a structural schematic diagram of a laser incident transceiver integrated light pipe in an embodiment of a method for assembling and adjusting a Kude optical system with a common aperture for off-axis composite tracking and aiming and laser emission of the present invention;

[0059] Fig.12 It is a structural schematic diagram of a transceiver integrated microlens array light pipe in an embodiment of a method for assembling and adjusting a Kude optical system with a common aperture for off-axis composite tracking and aiming and laser emission of the present invention;

[0060] Fig.13 It is a schematic diagram of optical axis consistency debugging in an embodiment of the Kude optical system assembly and adjustment method for off-axis composite tracking and aiming and laser emission with a common aperture (positive mirror state);

[0061] Fig.14 It is a schematic diagram of optical axis consistency debugging in an embodiment of the Kuder optical system assembly and adjustment method for off-axis composite tracking and aiming and laser emission with a common aperture (inverted mirror state) of the present invention.

[0062] Description of reference numerals:

[0063] 1-first window, 2-primary mirror, 3-secondary mirror, 4-first folding axis reflector, 5-second folding axis reflector, 6-two-dimensional galvanometer, 7-first Coode reflector, 8-second Coode reflector, 9-spectral spectroscope, 10-tracking imaging objective lens group, 11-first reference crosshair, 12-second reference crosshair, 13-third reference crosshair, 14-fourth reference crosshair, 15-reference reflector, 16-fifth reference crosshair, 17-laser incident transceiver integrated light pipe, 171-first laser light source, 172-first detector, 173-first semi-transparent and semi-reflective mirror, 174-first collimating optical component, 175-first reflector, 176-first collimating optical component, 177-first reflector, 178-first reflector, 179-first reflector, 180-first reflector, 181-first reflector, 182-first reflector, 183-first reflector, 184-first reflector, 185-first reflector, 186-first reflector, 187-first reflector, 188-first reflector, 189-first reflector, 190-first reflector, 191-first reflector, 192-first reflector, 193-first reflector, 194-first reflector, 195-first reflector, 196-first reflector, 197-first reflector, 198-first reflector, 199-first reflector, 200-201 6-second reflecting mirror, 18-transceiver integrated microlens array light pipe, 181-second laser light source, 182-second detector, 183-microlens array, 184-second collimating optical component, 185-second semi-transparent and semi-reflective mirror, 186-third reflecting mirror, 187-fourth reflecting mirror, 188-lens group, 19-self-collimating telescope, 20-vertical rotation mechanism, 21-rotating bracket, 211-first bracket, 212-second bracket, 22-horizontal rotation assembly, 221-first horizontal rotation mechanism, 222-second horizontal rotation mechanism, 23-interferometer, 24-self-collimating theodolite, 25-laser, 26-mirror box. DETAILED DESCRIPTION

[0064] The present invention discloses a Couder optical system with off-axis composite tracking and aiming and laser emission with a common aperture, comprising a laser emission component, a main optical component, a Couder optical path, a tracking imaging objective lens group 10, a horizontal theodolite and a mirror box 26. Figure 1 As shown, the laser emitting assembly includes a laser 25, and the main optical assembly includes a primary mirror 2, a secondary mirror 3, a first folding axis reflector 4 and a second folding axis reflector 5; the primary mirror 2 is a concave parabolic reflector, the secondary mirror 3 is a convex hyperbolic reflector, the focus of the secondary mirror 3 close to the side of the primary mirror 2 coincides with the focus of the primary mirror 2, the incident end of the primary mirror 2 is used to receive the visible light reflected by the tracked target and reflect the visible light, and the secondary mirror 3 is arranged on the visible light reflection optical path of the primary mirror 2; the first folding axis reflector 4 is arranged on the visible light reflection optical path of the secondary mirror 3, and the second folding axis reflector 5 is arranged on the visible light reflection optical path of the first folding axis reflector 4.

[0065] The Coode optical path includes a spectral beam splitter 9, a second Coode reflector 8, a first Coode reflector 7 and a two-dimensional galvanometer 6; the laser 25 is arranged at the incident end of the spectral beam splitter 9, the spectral beam splitter 9 reflects the incident laser to the second Coode reflector 8, the first Coode reflector 7 is arranged on the laser reflection optical path of the second Coode reflector 8, and the two-dimensional galvanometer 6 is arranged on the laser reflection optical path of the first Coode reflector 7; the second folding axis reflector 5 is arranged corresponding to the laser reflection optical path of the two-dimensional galvanometer 6, and is used to reflect the laser to the first folding axis reflector 4, and reflect the visible light reflected by the first folding axis reflector 4 to the two-dimensional galvanometer 6.

[0066] The tracking imaging objective lens group 10 is a fixed-focus visible light lens, which is arranged on the transmission light path of the spectrum splitter 9 and is used for tracking imaging. The tracking imaging objective lens group 10 has a focal length of 350 mm and an entrance pupil diameter of 50 mm.

[0067] In the present invention, the Kude optical path is set based on a horizontal theodolite, and the horizontal theodolite includes a vertical rotation mechanism 20 and a horizontal rotation assembly 22. The vertical rotation mechanism 20 and the horizontal rotation assembly 22 rotate around their central axes respectively, and the horizontal rotation assembly 22 is connected to the vertical rotation mechanism 20 through a rotating bracket 21. The horizontal rotation assembly 22 includes a first horizontal rotation mechanism 221 and a second horizontal rotation mechanism 222. The rotating bracket 21 includes a first bracket 211 and a second bracket 212 symmetrically arranged on both sides of the vertical rotation mechanism 20. The first bracket 211 includes a first connecting arm and a second connecting arm. One end of the first connecting arm is connected to the upper end of the vertical rotation mechanism 20, and its central axis is perpendicular to the central axis of the vertical rotation mechanism 20. The lower end of the second connecting arm is connected to the other end of the first connecting arm, and the first horizontal rotation mechanism 221 is arranged at the upper end of the second connecting arm. The structure of the second bracket 212 is basically the same as that of the first bracket 211, with the only difference being that no optical window is provided at the upper end of the second connecting arm thereof, and the second horizontal rotation mechanism 222 is provided at the upper end of the second connecting arm of the second bracket 212, and is located on the same horizontal axis as the central axis of the first horizontal rotation mechanism 221.

[0068] The second Coode reflector 8, the spectral beam splitter 9 and the tracking imaging objective lens group 10 are arranged in sequence along the central axis of the vertical rotating mechanism 20, and the second Coode reflector 8 is close to the upper end of the vertical rotating mechanism 20; the first Coode reflector 7 is arranged at the lower end of the second connecting arm of the first bracket 211, and the two-dimensional galvanometer 6 is arranged at its upper end, coaxial with the first horizontal rotating mechanism 221, and two optical windows are coaxially arranged on the inner and outer sides of the first horizontal rotating mechanism 221, and the two-dimensional galvanometer 6 corresponds to the two optical windows.

[0069] The main optical component is arranged in the mirror box 26. The mirror box 26 is provided with a first window 1 at the incident end corresponding to the main mirror 2. The visible light reflected by the tracked target is incident on the main mirror 2 through the first window 1. The mirror box 26 is provided with a second window corresponding to the second folding axis reflector 5. The position of the second window can be determined according to a pre-set machining reference. The mirror box 26 is arranged between the first horizontal rotating mechanism 221 and the second horizontal rotating mechanism 222. The second window is coaxially arranged with the two optical windows of the first horizontal rotating mechanism 221.

[0070] The incident visible light of the present invention converges on the focus of the primary mirror 2, is reflected by the primary mirror 2 to the secondary mirror 3, and the reflected light of the primary mirror 2 is condensed and collimated into a small-aperture parallel light output, so that the condensed parallel light can pass through the two optical windows at the upper end of the second connecting arm of the horizontal theodolite. The reflected light of the secondary mirror 3 is folded by the first folding axis reflector 4 and the second folding axis reflector 5, and then passes through the two optical windows at the upper end of the second connecting arm. The double folding axis mirror structure of the first folding axis reflector 4 and the second folding axis reflector 5 is adopted here, and the parallelism of the visible light axis and the position in two directions can be adjusted simultaneously; after being folded by the two-dimensional galvanometer 6 and the first Coode reflector 7 and the second Coode reflector 8, it reaches the spectral beam splitter 9 along the central axis of the vertical rotation mechanism 20, and the spectral beam splitter 9 divides the incident visible light into a visible band transmission and a laser band reflection; the laser band optical path and the visible light band optical path form a 90° angle; the visible light band enters the tracking imaging objective lens group 10, converges to reach the detector of the tracking imaging objective lens group 10, and performs tracking imaging. The output end of the laser 25 is arranged corresponding to the spectral beam splitter 9. The output laser passes through the Kuder optical path and then the main optical component, and finally is emitted from the main mirror 2. The laser 25 is located outside the horizontal theodolite, which can avoid the influence of the vibration generated by the cooling device of the laser 25 on the tracking accuracy.

[0071] In this embodiment, the parameters of the main optical assembly and each optical element in the Kuder optical path are shown in the following table.

[0072]

[0073] The parabola of the primary mirror and the quadratic surface of the secondary mirror are calculated using the aspheric formulas shown below:

[0074]

[0075] Among them, z is the arrow height; c is the curvature; k is the quadratic coefficient; and r is the radius of the aperture ring.

[0076] like Figure 2 As shown, the reference crosshair structure used for adjustment includes a transmission area A and a reflection area B. The transmission area A is set at the center, and the crosshairs are set based on the central axis. The reflection area B is set in the outer annular area of ​​the transmission area A and is coated with a reflective film.

[0077] like Figure 3 As shown, a first reference crosshair 11 is arranged at the upper end of the vertical rotation mechanism 20 along its central axis, and an autocollimation telescope 19 is correspondingly arranged at the lower end. The reflection surface of the first reference crosshair 11 is auto-aligned by the autocollimation telescope 19, and the vertical rotation mechanism 20 is rotated so that the crosshairs at the transmitting end of the autocollimation telescope 19 are auto-aligned and penetrated with the first reference crosshair 11, and the autocollimation image and the through-the-center image formed by the first reference crosshair 11 in the autocollimation telescope 19 are both stable, thereby completing the vertical axis reference calibration. The central axis of the vertical rotation mechanism 20 is the vertical axis reference, that is, the first optical axis reference.

[0078] like Figure 4 As shown, a second reference crosshair 12 is installed at the laser incident end to replace the incident laser reference during the actual operation of the optical system. A spectral spectroscope 9 is set along the vertical axis reference, and its reflection surface corresponds to the laser incident end. An autocollimation telescope 19 is set outside the laser incident end. The autocollimation telescope 19 emits laser light through the second reference crosshair 12 at the laser incident end, and then is reflected to the first reference crosshair 11 by the spectral spectroscope 9. The spectral spectroscope 9 is adjusted by rotating the vertical rotation mechanism 20, so that the autocollimation telescope 19 can simultaneously align and penetrate the first reference crosshair 11 and the second reference crosshair 12, thereby completing the posture adjustment of the spectral spectroscope 9.

[0079] like Figure 5 The figure shows a schematic diagram of horizontal axis reference calibration, in which a third reference crosshair 13 is arranged on the inner optical window at the upper end of the second connecting arm of the first bracket 211, and an autocollimation telescope 19 is arranged on the outer side of the second connecting arm corresponding to the third reference crosshair 13. The first horizontal rotation mechanism 221 is rotated to self-align the reflection surface of the third reference crosshair 13 so that the crosshairs of the autocollimation telescope 19 and the center crosshairs of the third reference crosshairs 13 are intersected, and the first horizontal rotation mechanism 221 is rotated. When the autocollimation image and the intersecting image formed by the third reference crosshair 13 in the autocollimation telescope 19 are stable, the center axis of the third reference crosshair 13 is the horizontal axis reference, that is, the second optical axis reference, and the horizontal axis reference calibration is completed.

[0080] like Figure 6As shown, the first reference crosshair 11 is removed, an autocollimator 19 is set at the laser incident end, and the first Coode reflector 7, the second Coode reflector 8 and the two-dimensional galvanometer 6 are set. The laser emitted by the autocollimator 19 is reflected to the third reference crosshair 13 by the second reference crosshair 12, the spectral beam splitter 9, the second Coode reflector 8, the first Coode reflector 7, and the two-dimensional galvanometer 6. The third reference crosshair 13 is reflected and transmitted, and the postures of the first Coode reflector 7, the second Coode reflector 8 and the two-dimensional galvanometer 6 are adjusted, so that the autocollimator 19 can simultaneously collimate and penetrate the second reference crosshair 12 and the third reference crosshair 13, and the posture adjustment of the first Coode reflector 7, the second Coode reflector 8 and the two-dimensional galvanometer 6 is completed. At this point, the adjustment of the mechanical axis and the optical axis of the Coode optical path is completed.

[0081] like Figure 7 As shown, a fourth reference crosshair 14 is arranged on the second window of the mirror box 26 to determine the optical axis reference of the visible light output light of the main optical component, a reference reflector 15 is arranged at the visible light incident end of the main optical component, and an autocollimation theodolite 24 is arranged corresponding to the fourth reference crosshair 14. The reflection surface of the fourth reference crosshair 14 is self-aligned and penetrated by the autocollimation theodolite 24, and then the autocollimation theodolite 24 is rotated 90° toward the reference reflector 15, and the posture of the reference reflector 15 is adjusted to make the autocollimation theodolite 24 and the reference reflector 15 self-aligned and penetrated, so as to ensure that the central axis of the reference reflector 15 is perpendicular to the central axis of the fourth reference crosshair 14.

[0082] like Figure 8 As shown, a secondary mirror 3 is arranged in a mirror box 26. The secondary mirror 3 needs to ensure its outer circle reference during optical processing. The fifth reference crosshair 16 is installed on the frame of the secondary mirror 3 through centering processing to make it coaxial with the secondary mirror 3. The frame of the secondary mirror 3 is installed on the secondary mirror seat in the mirror box 26. A first folding axis reflector 4 and a second folding axis reflector 5 are arranged in sequence on the reflected light path of the secondary mirror 3, so that the reflected light of the second folding axis reflector 5 passes through the fourth reference crosshair 14. An autocollimator 19 is arranged corresponding to the fourth reference crosshair 14. The laser emitted by the autocollimator 19 passes through the fourth reference crosshair 14 and is reflected to the fifth reference crosshair 16 and the secondary mirror 3 through the second folding axis reflector 5 and the first folding axis reflector 4 in sequence. The secondary mirror 3, the first folding axis reflector 4 and the second folding axis reflector 5 are adjusted so that the autocollimator 19 can self-align and penetrate the fourth reference crosshair 14 and the fifth reference crosshair 16, and the debugging of the secondary mirror 3, the first folding axis reflector 4 and the second folding axis reflector 5 is completed.

[0083] like Fig. 9As shown, an interferometer 23 is set corresponding to the fourth reference crosshair 14, so that the interferometer 23 and the fourth reference crosshair 14 are self-aligned, the primary mirror 2 is set on the incident light path of the secondary mirror 3, the posture of the primary mirror 2 is adjusted, the interferometer 23 emits a laser, passes through the fourth reference crosshair 14, and is reflected to the reference reflector 15 by the second folding axis reflector 5, the first folding axis reflector 4, the secondary mirror 3, and the primary mirror 2 in sequence, and then reflected by the reference reflector 15 and returns to the interferometer 23 along the original path, so that the wave aberration of the interferometer 23 meets the system requirements, and the debugging of the primary mirror 2 is completed.

[0084] like Fig.10 As shown, the main optical component is integrated with the Kuder optical path, and the mirror box 26 of the main optical component is arranged between the first horizontal rotating mechanism 221 and the second horizontal rotating mechanism 222. The second window thereof corresponds to the two-dimensional galvanometer 6 through the two optical windows at the upper end of the second connecting arm of the first bracket 211. An autocollimation telescope 19 is arranged at the laser incident end, and a trimming pad is arranged at the connection between the mirror box 26 and the horizontal theodolite. The position of the mirror box 26 is adjusted by adjusting the trimming pad, thereby adjusting the overall position of the main optical component, so that the fourth reference crosshairs 14, the second reference crosshairs 12 and the autocollimation telescope 19 are self-aligned and penetrated, thereby completing the integration of the main optical component and the Kuder optical path.

[0085] like Fig.11 As shown, the laser incident transceiver integrated light pipe 17 used in the present invention for adjusting the consistency of the system optical axis has two optical paths of laser emission and imaging, and its transceiver consistency has been calibrated, and includes a first laser light source 171, a first semi-transparent and semi-reflective mirror 173, a first collimating optical component 174 and a first detector 172. The emitted laser of the first laser light source 171 is reflected by the first semi-transparent and semi-reflective mirror 173, and then collimated by the first collimating optical component 174 before being emitted. The incident laser is transmitted through the first collimating optical component 174 and the first semi-transparent and semi-reflective mirror 173 to the first detector 172 for imaging. In this embodiment, the laser incident transceiver integrated light pipe 17 also includes a first reflector 175 and a second reflector 176. 6. The first reflector 175 and the second reflector 176 are coaxially arranged with the first semi-transparent and semi-reflective mirror 173, the first collimating optical component 174, and the first detector 172. The first reflector 175 has a first through hole along the central axis. The second reflector 176 is arranged corresponding to the first through hole, and its reflection surface is opposite to the reflection surface of the first reflector 175. The first collimating optical component 174 corresponds to the through hole of the first reflector 175 and is arranged on the back side thereof. The outgoing laser is collimated by the first collimating optical component 174 and then reflected by the second reflector 176 and the first reflector 175 in sequence before being emitted. The incident laser is reflected by the first reflector 175 and the second reflector 176 in sequence to the first collimating optical component 174.

[0086] like Fig.12As shown, the transceiver-in-one microlens array light pipe 18 used in the present invention for adjusting the consistency of the system optical axis has two optical paths of laser emission and imaging, including a second laser light source 181, a second semi-transparent and semi-reflective mirror 185, a second collimating optical component 184, a second detector 182, and a microlens array 183 or a lens group 188 arranged at the receiving end of the second detector 182. The outgoing laser of the second laser light source 181 is collimated by the second collimating optical component 184, and then emitted after being reflected by the second semi-transparent and semi-reflective mirror 185. The incident laser is transmitted by the second semi-transparent and semi-reflective mirror 185, and then passes through the microlens array 183 or the lens group 188, and is received by the second detector 182 for imaging. Among them, by switching the microlens array 183 and the lens group 188 at the receiving end of the second detector 182, the array mode switching and non-array mode switching of the transceiver-in-one microlens array light pipe 18 are realized, and its transceiver consistency is calibrated. In this embodiment, the transceiver-integrated microlens array light tube 18 also includes a third reflector 186 and a fourth reflector 187. The third reflector 186 and the fourth reflector 187 are coaxially arranged with the second semi-transparent and semi-reflective mirror 185, the microlens array 183 and the second detector 182. The third reflector 186 has a second through hole along the central axis, and the fourth reflector 187 is arranged corresponding to the second through hole, and its reflection surface is opposite to the reflection surface of the third reflector 186. The second semi-transparent and semi-reflective mirror 185 corresponds to the through hole of the third reflector 186 and is arranged on the back side thereof. The outgoing laser is reflected by the second semi-transparent and semi-reflective mirror 185 and then reflected by the fourth reflector 187 and the third reflector 186 in sequence before being emitted. The incident laser is reflected by the third reflector 186 and the fourth reflector 187 in sequence to the second semi-transparent and semi-reflective mirror 185.

[0087] like Fig.13 and Fig.14 As shown, the tracking imaging objective lens group 10 is installed, the transceiver integrated microlens array light pipe 18 is adjusted to the non-array mode and the array mode, and the optical axis consistency of the tracking imaging objective lens group 10, the main optical component and the Kude optical path, and the mechanical axis consistency of the horizontal theodolite are adjusted according to the following steps to complete the optical axis and mechanical axis adjustment:

[0088] (1) A laser incident transceiver integrated light pipe 17 is set at the laser incident end, and after it is self-aligned with the second reference crosshair 12, the second reference crosshair 12 is removed, and a transceiver integrated microlens array light pipe 18 is set at the visible light incident end. This is defined as a positive mirror state, such as Fig.13 As shown;

[0089] (2) Adjust the angles of the horizontal rotation mechanism and the vertical rotation mechanism 20 so that the laser emitted by the laser incident transceiver light pipe 17 passes through the Kude optical path and the main optical component and is imaged at the center of the detector target surface of the transceiver microlens array light pipe 18. At the same time, the laser emitted by the transceiver microlens array light pipe 18 passes through the main optical component and the Kude optical path in sequence and is imaged at the center of the detector target surface of the laser incident transceiver light pipe 17 and the center of the detector target surface of the tracking imaging objective lens group 10, thus completing the three-optical path through-axis debugging;

[0090] (3) Control the vertical rotation mechanism 20 to rotate 180° around the vertical axis reference, and the main optical component as a whole rotates 180° around the horizontal axis reference. This is defined as the inverted mirror state, such as Fig.14 As shown, repeat the process of step (2) to perform three-light path axis debugging;

[0091] (4) Determine the imaging deviation in the positive mirror state and the reverse mirror state. If the imaging deviation meets the set threshold, debugging is completed; if not, repeat steps (1) to (3) until the imaging deviation is less than the set threshold.

[0092] In the non-array mode, the imaging deviation of the transceiver integrated microlens array light pipe 18 is the value of the image formed by the laser incident on the transceiver integrated light pipe 17, the transceiver integrated microlens array light pipe 18 and the tracking imaging objective lens group 10 deviating from the center of its detector target surface.

[0093] The transceiver integrated microlens array light pipe 18 is used to adjust the incident laser optical axis, the visible light axis and the mechanical axis position of the vertical rotation mechanism 20, the first horizontal rotation mechanism 221 and the second horizontal rotation mechanism 222 in the array mode. The imaging deviation is the spot distribution deviation of the laser emitted by the laser incident transceiver integrated light pipe 17 in step (2) at the center of the target surface of the transceiver integrated microlens array light pipe 18 detector.

[0094] After the optical axis is installed and adjusted, the laser incident transceiver light pipe 17 is removed, the laser 25 actually used is installed, and the posture of the laser 25 is adjusted so that the laser image emitted by it is at the center of the target surface of the transceiver microlens array light pipe 18 detector, and the light spot distribution in the array mode of the transceiver microlens array light pipe 18 is consistent with the corresponding light spot distribution during installation and adjustment, and the integration of the laser 25 is completed.

Claims

1. A Kuder optical system with off-axis composite tracking and aiming and laser emission with a common aperture, characterized by: It includes a mirror box (26), a horizontal theodolite, a laser emission component, a main optical component, a Kude optical path and a tracking imaging objective lens group (10); The main optical assembly comprises a primary mirror (2), a secondary mirror (3), a first folding axis reflector (4) and a second folding axis reflector (5) which are arranged in a mirror box (26) and in sequence along the optical path; the primary mirror (2) and the secondary mirror (3) are both reflectors, and the incident end of the primary mirror (2) is used to receive visible light reflected by a tracked target; The horizontal theodolite comprises a vertical rotation mechanism (20), a rotation bracket (21) arranged at the upper end of the vertical rotation mechanism (20), and a horizontal rotation assembly (22) arranged on the rotation bracket (21), the vertical rotation mechanism (20) and the horizontal rotation assembly (22) respectively rotating around their central axes; the mirror box (26) is connected to the horizontal rotation assembly (22); The Coode optical path comprises a spectral beam splitter (9), a second Coode reflector (8), a first Coode reflector (7) and a two-dimensional galvanometer (6) which are sequentially arranged along the optical path; The spectral beam splitter (9) and the second Coode reflector (8) are arranged on the central axis of the vertical rotating mechanism (20), and the spectral beam splitter (9) is located on the laser emission light path of the laser emission component and is used to reflect the incident laser. The first Coode reflector (7) and the two-dimensional galvanometer (6) are arranged on the rotating bracket (21), and the two-dimensional galvanometer (6) is located on the central axis of the horizontal rotating component (22); The second folding axis reflector (5) is arranged on the reflection light path of the two-dimensional galvanometer (6), and is used to reflect the laser reflected by the two-dimensional galvanometer (6) to the first folding axis reflector (4), and to reflect the visible light reflected by the first folding axis reflector (4) to the two-dimensional galvanometer (6); The laser light reflected by the second folding axis reflector (5) is reflected by the first folding axis reflector (4) and the secondary mirror (3) to the primary mirror (2), and finally emitted from the primary mirror (2); the visible light reflected by the second folding axis reflector (5) is reflected by the two-dimensional galvanometer (6), the first Coode reflector (7), and the second Coode reflector (8) to the spectral beam splitter (9), and the tracking imaging objective lens group (10) is arranged on the visible light transmission light path of the spectral beam splitter (9) and is located on the central axis of the vertical rotation mechanism (20) for tracking imaging.

2. According to claim 1, a Kuder optical system with a common aperture for off-axis composite tracking and aiming and laser emission, characterized in that: The primary mirror (2) is a concave parabolic reflector, the curvature radius of the concave parabola is -2769.7 mm, the aspheric coefficient k is -1, and the off-axis distance is 430 mm; The secondary mirror (3) is a convex hyperbolic reflector, the hyperbolic curvature radius of which is -387.26 mm, and the aspheric coefficient k is -1.015; The tracking imaging objective lens group (10) is a fixed-focus visible light lens; The tracking imaging objective lens group (10) has a focal length of 350 mm and an entrance pupil diameter of 50 mm.

3. The off-axis composite tracking and aiming and laser emission co-aperture Kuder optical system according to claim 1 or 2, characterized in that: The first folding axis reflector (4), the second folding axis reflector (5), the two-dimensional galvanometer (6), the first Coode reflector (7), and the second Coode reflector (8) are all plane reflectors.

4. According to claim 3, a Kuder optical system with a common aperture for off-axis composite tracking and aiming and laser emission, characterized in that: The rotating bracket (21) comprises a first bracket (211) and a second bracket (212) which are symmetrically arranged on both sides of the vertical rotating mechanism (20); the horizontal rotating assembly (22) comprises a first horizontal rotating mechanism (221) and a second horizontal rotating mechanism (222); The first bracket (211) comprises a first connecting arm and a second connecting arm, one end of the first connecting arm is connected to the upper end of the vertical rotation mechanism (20), the central axis of the first connecting arm is perpendicular to the central axis of the vertical rotation mechanism (20), the lower end of the second connecting arm is connected to the other end of the first connecting arm, and the first horizontal rotation mechanism (221) is arranged at the upper end of the second connecting arm; The structure of the second bracket (212) is the same as that of the first bracket (211); the second horizontal rotation mechanism (222) is arranged at the upper end of the second connecting arm of the second bracket (212) and is located on the same horizontal axis as the central axis of the first horizontal rotation mechanism (221); The second Coode reflector (8) is located at the upper end of the vertical rotation mechanism (20), the first Coode reflector (7) is arranged at the lower end of the second connecting arm of the first bracket (211), the two-dimensional galvanometer (6) is arranged at the upper end of the second connecting arm of the first bracket (211) and is coaxial with the first horizontal rotation mechanism (221), and two optical windows are coaxially arranged on the inner and outer sides of the first horizontal rotation mechanism (221); The mirror box (26) is arranged between the first horizontal rotation mechanism (221) and the second horizontal rotation mechanism (222); the mirror box (26) is provided with a first window (1) at the incident end corresponding to the primary mirror (2); and a second window is provided corresponding to the second folding axis reflector (5); the second window is arranged coaxially with the optical window.

5. A method for assembling and adjusting the off-axis composite tracking and aiming and laser emission common aperture Kuder optical system as claimed in any one of claims 1 to 4, characterized in that: The following steps are involved: S1. Adjusting the Kude optical path: calibrating the first optical axis reference and the second optical axis reference, setting the reference crosshairs in the optical path, using the autocollimation telescope (19) to align and penetrate the reference crosshairs, and adjusting the Kude optical path; The first optical axis reference is the central axis of the vertical rotation mechanism (20), and the second optical axis reference is the central axis of the horizontal rotation assembly (22); S2. Adjusting the main optical components: setting a reference crosshair and a reference reflector (15) in the optical path, using an autocollimation telescope (19) to collimate and penetrate the reference crosshair, adjusting the secondary mirror (3), the first folding axis reflector (4) and the second folding axis reflector (5); measuring the wavefront aberration using an interferometer (23), the reference crosshair and the reference reflector (15), and adjusting the primary mirror (2); S3. Integrate the main optical components with the Kude optical path; S4. Install the tracking imaging objective lens group (10); S5. Adjust so that the optical axis of the tracking imaging objective lens group (10), the main optical component and the Kuder optical path are consistent; S6. Install the laser emission assembly and complete the adjustment.

6. The method for assembling and adjusting the off-axis composite tracking and aiming and laser emission common aperture Kuder optical system according to claim 5, characterized in that: Step S5 is specifically as follows: A laser incident transceiver integrated light pipe (17) is arranged at the laser incident end, and a transceiver integrated microlens array light pipe (18) is arranged at the visible light incident end. In a non-array mode and an array mode of the transceiver integrated microlens array light pipe (18), the main optical component and the Kuder optical path are adjusted respectively, and imaging is performed using the laser incident transceiver integrated light pipe (17), the transceiver integrated microlens array light pipe (18), and the tracking imaging objective lens group (10), so that the imaging deviation meets a set threshold value.

7. The method for assembling and adjusting the off-axis composite tracking and aiming and laser emission common aperture Kude optical system according to claim 6, characterized in that: In step S5, the main optical component and the Kude optical path are adjusted, and imaging is performed using the laser incident transceiver integrated light pipe (17), the transceiver integrated microlens array light pipe (18), and the tracking imaging objective lens group (10), specifically: Adjusting the angles of the horizontal rotating assembly (22) and the vertical rotating mechanism (20) so that the laser emitted by the laser incident transceiver integrated light pipe (17) passes through the Kude optical path and the main optical assembly and is imaged at the center of the detector target surface of the transceiver integrated microlens array light pipe (18); at the same time, the laser emitted by the transceiver integrated microlens array light pipe (18) passes through the main optical assembly and the Kude optical path and is imaged at the center of the detector target surface of the laser incident transceiver integrated light pipe (17) and the center of the detector target surface of the tracking imaging objective lens group (10); The vertical rotation mechanism (20) is controlled to rotate 180° around the vertical axis reference, and the main optical component as a whole is rotated 180° around the second optical axis reference, and imaging is performed using the laser incident transceiver integrated light pipe (17) and the transceiver integrated microlens array light pipe (18).

8. The method for assembling and adjusting the off-axis composite tracking and aiming and laser emission common aperture Kude optical system according to claim 7, characterized in that: In step S5, the laser incident transceiver integrated light pipe (17) comprises a first laser light source (171), a first semi-transparent and semi-reflective mirror (173), a first collimating optical component (174) and a first detector (172); the emitted laser light of the first laser light source (171) is reflected by the first semi-transparent and semi-reflective mirror (173), and then collimated by the first collimating optical component (174) before being emitted; the incident laser light is transmitted through the first collimating optical component (174) and the first semi-transparent and semi-reflective mirror (173) to the first detector (172) for imaging; The transceiver-integrated microlens array light pipe (18) comprises a second laser light source (181), a second semi-transparent and semi-reflective mirror (185), a second collimating optical component (184), a second detector (182), and a microlens array (183) or a lens group (188) arranged at the receiving end of the second detector (182); the outgoing laser light of the second laser light source (181) is collimated by the second collimating optical component (184), then reflected by the second semi-transparent and semi-reflective mirror (185) and then emitted; the incident laser light is transmitted by the second semi-transparent and semi-reflective mirror (185), then passes through the microlens array (183) or the lens group (188), and is received by the second detector (182) and imaged; Wherein, in the non-array mode of the transceiver-integrated microlens array light pipe (18), the incident laser is transmitted through the second semi-transparent and semi-reflective mirror (185), then passes through the lens group (188), and is received by the second detector (182) to form an image; in the array mode of the transceiver-integrated microlens array light pipe (18), the incident laser is transmitted through the second semi-transparent and semi-reflective mirror (185), then passes through the microlens array (183), and is received by the second detector (182) to form an image.

9. The method for assembling and adjusting the off-axis composite tracking and aiming and laser emission common aperture Kuder optical system according to any one of claims 5 to 8, characterized in that: Step S1 is specifically as follows: S1.

1. Calibrate the first optical axis reference, set the spectral beam splitter (9) along the first optical axis reference, set the first reference crosshairs (11) and the second reference crosshairs (12) in the laser incident light path and the laser reflection light path respectively, adjust the posture of the spectral beam splitter (9), set the autocollimation telescope (19) at the laser incident end, make the autocollimation telescope (19) self-align and penetrate the first reference crosshairs (11) and the second reference crosshairs (12) at the same time, and complete the posture adjustment of the spectral beam splitter (9); S1.

2. Calibrate the second optical axis reference, a third reference crosshair (13) is arranged on the second optical axis reference, a first Coode reflector (7), a second Coode reflector (8) and a two-dimensional galvanometer (6) are arranged, wherein the two-dimensional galvanometer (6) is located on the second optical axis reference, and the postures of the first Coode reflector (7), the second Coode reflector (8) and the two-dimensional galvanometer (6) are adjusted so that the autocollimator (19) can simultaneously align and penetrate the second reference crosshair (12) and the third reference crosshair (13), thereby completing the Coode optical path adjustment; Step S2 is specifically as follows: S2.

1. A fourth reference crosshair (14) is provided on the second window of the mirror box (26) as a reference of the optical axis of the visible light output from the main optical component, and a reference reflector (15) is provided at the incident end of the visible light to ensure that the central axis of the reference reflector (15) is perpendicular to the central axis of the fourth reference crosshair (14); S2.

2. A secondary mirror (3) is arranged in the mirror box (26), and a fifth reference crosshair (16) is arranged coaxially with the secondary mirror (3); a first folding axis reflector (4) and a second folding axis reflector (5) are arranged, and an autocollimator (19) is arranged corresponding to the fourth reference crosshair (14); the secondary mirror (3), the first folding axis reflector (4) and the second folding axis reflector (5) are adjusted so that the autocollimator (19) can self-align and penetrate the fourth reference crosshair (14) and the fifth reference crosshair (16), and the secondary mirror (3), the first folding axis reflector (4) and the second folding axis reflector (5) are installed and adjusted; S2.

3. An interferometer (23) is arranged corresponding to the fourth reference crosshair (14) so ​​that the interferometer (23) and the fourth reference crosshair (14) are self-aligned, and the primary mirror (2) is arranged. The interferometer (23) emits a laser, which passes through the fourth reference crosshair (14), and is reflected to the reference reflector (15) by the second folding axis reflector (5), the first folding axis reflector (4), the secondary mirror (3), and the primary mirror (2) in sequence, and then returns to the interferometer (23) along the original path after being reflected by the reference reflector (15). The posture of the primary mirror (2) is adjusted so that the wave aberration of the interferometer (23) meets the system requirements, and the debugging of the primary mirror (2) is completed, and the adjustment of the primary optical components is completed.

10. The method for assembling and adjusting the off-axis composite tracking and aiming and laser emission common aperture Kuder optical system according to claim 9, characterized in that: Step S3 is specifically as follows: The main optical component is connected to the Kude optical path, and an autocollimation telescope (19) is arranged at the laser incident end, so that the autocollimation telescope (19) is simultaneously self-aligned and penetrated with the fourth reference crosshairs (14) and the second reference crosshairs (12), thereby completing the integration of the main optical component and the Kude optical path.

Images