Optical axis debugging system and debugging method for multi-directional optoelectronic equipment with fast reflecting mirror

Abstract

The invention discloses an optical axis debugging system and debugging method for multi-directional optoelectronic equipment with a fast reflecting mirror. The optical axis debugging system comprises a first optical platform, a second optical platform, a high-precision gradienter, a square tube front lens, an optical filter and light target paper. According to the optical axis debugging system of the multi-directional optoelectronic equipment with the fast reflecting mirror, a horizontal reference plane can be provided through the first optical adjustment platform, the second optical adjustment platform and the third optical adjustment platform; preliminary adjustment of all the assembling and adjusting devices is achieved through the square tube front mirror, and accurate adjustment of all the assembling and adjusting devices is achieved through the theodolite. According to the optical axis debugging system of the multi-directional photoelectric equipment with the fast reflecting mirror, the zero pointing direction of the laser beams of the multi-channel laser sensor can be accurately controlled to be parallel to the optical axis of the large-view-field photoelectric sensor, and the situation that the laser beam pointing coordinate system of the multi-channel laser sensor is parallel to the coordinate system of the large-view-field photoelectric sensor is eliminated.

Description

Technical Field

[0001] The present application relates to the technical field of precision optical machine design and assembly, and in particular to an optical axis debugging system and a debugging method for a multi-pointing optoelectronic device with a fast-reflection mirror. Background Art

[0002] As optoelectronic technology develops towards large-field-of-view multi-target detectors, new requirements are put forward for laser pointing technology, requiring optoelectronic systems to be able to simultaneously illuminate and indicate multiple discovered targets. Fast mirrors, or fast reflectors, are an indispensable part of optoelectronic precision tracking systems and are used to accurately control the direction of the light beam. Therefore, the method of using multiple lasers and multiple fast reflectors for precise modulation of laser pointing has been widely used.

[0003] According to the use requirements of multi-target optoelectronic imaging detection indicators, it is necessary to control multiple fast-reflection mirrors to drive the corresponding laser beams to accurately point to each target at the same time. In order to ensure the accurate correspondence between the laser light path pointing and the imaging target surface of the photoelectric detector, it is necessary to first ensure that the laser pointing coordinate system and the optoelectronic imaging coordinate system are completely parallel in the three axes. The conventional multi-aperture optical path adjustment method is difficult to meet the adjustment requirements, and a new adjustment system and adjustment solution are urgently needed.

[0004] Conventional multi-aperture optical axis calibration technology is mainly aimed at optical systems with fixed optical axes. It uses large-aperture collimator to calibrate to the same mark point through reflection to achieve consistent optical axis calibration of each sensor. This axis calibration method is simple, highly operable and accurate, but it cannot eliminate the relative rotation between the optical axes of each laser sensor, fast reflector and imaging sensor, and it is difficult to calibrate a multi-aperture optoelectronic system with a large angle change in the optical axis. Summary of the invention

[0005] The embodiment of the present application provides an optical axis debugging system and debugging method for a multi-pointing optoelectronic device with a fast reflection mirror, which can solve the technical problem that the debugging method in the prior art cannot eliminate the relative rotation between the optical axes of multiple multi-channel laser sensors, fast reflection mirrors and imaging sensors. The technical solution is as follows:

[0006] On the one hand, an optical axis debugging system for a multi-pointing optoelectronic device with a quick-reflection mirror is provided, wherein the multi-pointing optoelectronic device with a quick-reflection mirror comprises: a large-field-of-view photoelectric sensor, wherein the mounting surface of the large-field-of-view photoelectric sensor is parallel to the optical axis of the large-field-of-view photoelectric sensor; a multi-channel laser sensor, wherein the multi-channel laser sensor comprises a shell, wherein the shell has a first mounting surface and a second mounting surface which are vertically arranged and parallel to each other, wherein two multi-channel laser sensors are vertically arranged on the first mounting surface, and the direction of the emitted light of the multi-channel laser sensor is away from the first mounting surface; and an optical bench, wherein the optical bench comprises a bottom plate, and a sensor mounting plate which is vertically arranged on the upper surface of the bottom plate; wherein the first side surface of the sensor mounting plate is used to mount the multi-channel laser sensors through the first mounting surface. The multi-channel laser sensor is provided with a reflector mounting plate perpendicular to the base plate on the second side, and the angle between the reflector mounting plate and the sensor mounting plate is 45°, the sensor mounting plate has two light holes vertically arranged from top to bottom, the two light holes correspond to the two laser emitters, and two fast reflectors are vertically installed from top to bottom on the side of the reflector mounting plate facing the sensor mounting plate; the optical bench has a first reference surface and a second reference surface; the first reference surface is the second side of the sensor mounting plate, and a first plane mirror is arranged on the first reference surface; the second reference surface is the side of the optical bench that is perpendicular to both the base plate and the sensor mounting plate and is closer to the light holes.

[0007] The optical axis debugging system comprises: a first optical platform, on which a first optical adjustment platform, a theodolite and a third optical adjustment platform are arranged along a first direction; wherein a precision turntable is arranged on the first optical adjustment platform, the multi-pointing optoelectronic device is arranged on the precision turntable, and a laser receiver is arranged on the third optical adjustment platform; a second optical platform is located on the side of the first optical platform, on which a second optical adjustment platform is arranged, and on which a large-aperture parabolic reflector facing the multi-pointing optoelectronic device is arranged on the second optical adjustment platform, and the large-aperture parabolic reflector has a third reference surface perpendicular to the optical axis of the large-aperture parabolic reflector; wherein, when the optical axis of the theodolite is parallel to the first direction, when the multi-pointing optoelectronic device is rotated until the first reference surface is perpendicular to the optical axis of the theodolite, the theodolite is perpendicular to the first reference surface; when the theodolite is turned to the large-aperture parabolic reflector, the theodolite is perpendicular to the third reference surface;

[0008] High-precision level; also includes square tube front mirror, filter, and laser target paper.

[0009] On the other hand, a method for debugging an optical axis of a multi-pointing optoelectronic device with a quick-reflection mirror is provided. Based on the optical axis debugging system of the multi-pointing optoelectronic device with a quick-reflection mirror, the debugging method comprises the following steps:

[0010] Step 1, fixing a high-precision precision turntable on the first optical platform so that the table surface of the precision platform remains horizontal;

[0011] Step 2, fixing the theodolite on the first optical platform, keeping the base of the theodolite horizontal, and adjusting the pitch angle of the optical axis of the theodolite to 90°;

[0012] Step 3, debugging the large-aperture parabolic reflector for the first time, so that the multi-channel laser sensor and the laser receiver form an assembly loop;

[0013] Step 4, adjusting the optical bench so that the first reference plane is perpendicular to the horizontal plane;

[0014] Step 5, debugging the large-aperture parabolic reflector for the second time, so that the large-aperture parabolic reflector is perpendicular to the horizontal plane;

[0015] Step 6, install and debug the multi-channel laser sensor so that the outgoing light of the multi-channel laser sensor is parallel to the horizontal plane;

[0016] Step 7, using a square tube front mirror to adjust the precision turntable so that the outgoing light of the multi-channel laser sensor is converged by a large-aperture parabolic reflector to generate a damage spot on the laser target paper;

[0017] Step 8: Install, debug and fix the large field of view photoelectric sensor;

[0018] Step 9, install and debug the upper fast reflector so that the first outgoing light of the multi-channel laser sensor and the imaging sensor have the same zero position, the optical axis points in the same direction, and the axes of the coordinate system are parallel;

[0019] Step 10, repeat step 9, install and debug the lower fast reflector, so that the second output light of the multi-channel laser sensor and the imaging sensor have the same zero position, the optical axis points in the same direction, and the axes of the coordinate system are parallel.

[0020] Optionally, in step 3, the first debugging of the large-aperture parabolic reflector includes: adjusting the table top of the second optical adjustment platform to keep it horizontal by using a high-precision level, fine-adjusting the large-aperture parabolic reflector by using a theodolite, and fine-tuning the second optical adjustment platform to keep the large-aperture parabolic reflector reference surface perpendicular to the theodolite; fixing the laser receiver on the third optical adjustment platform and placing it as a whole in the assembly optical path; placing the high-precision level on the third optical adjustment platform, and adjusting the level by using the high-precision level, and placing a filter between the laser receiver and the large-aperture parabolic reflector; the laser target paper can be attached to the front surface of the laser receiver; and the entire optical path is arranged on the first optical platform and the second optical platform.

[0021] Optionally, in step 4, the optical bench is placed on a precision turntable, and the posture of the optical bench is adjusted so that the outgoing light of the theodolite is reflected by the sensor mounting surface of the optical bench corresponding to the first reference surface, and the light returns along the original path to form a self-collimated image inside the theodolite, ensuring that the first side surface of the sensor mounting plate is perpendicular to the horizontal plane.

[0022] Optionally, in step 5, the large-aperture parabolic reflector is placed on a second optical adjustment platform and is placed as a whole in the assembly optical path; a high-precision level is placed on the second optical adjustment platform, and the second optical adjustment platform is adjusted by calibrating the high-precision level in an orthogonal direction to keep the second optical adjustment platform level; the large-aperture parabolic reflector reference plane is kept perpendicular to the theodolite by horizontally rotating the theodolite and fine-adjusting the large-aperture parabolic reflector, and the second optical adjustment platform is fine-adjusted, thereby ensuring that the large-aperture parabolic reflector is perpendicular to the horizontal plane.

[0023] Optionally, in step 6, the theodolite is rotated to return to its initial state parallel to the first direction, the multi-channel laser sensor is preliminarily fixed to the optical bench, the installation posture of the multi-channel laser sensor is adjusted so that the theodolite can form a self-collimated image through the third reference plane, the multi-channel laser sensor is locked on the optical bench, and the output light of the multi-channel laser sensor is adjusted to be parallel to the horizontal plane.

[0024] Optionally, in step 7, the square tube front mirror is adjusted to lean against the second reference surface of the optical mount, and the precision turntable is rotated until the square tube front mirror observes the laser target paper. When it is observed that the cross center of the square tube front mirror is located near the center position of the laser receiver, the rotation of the precision turntable is stopped; the laser output light of the multi-channel laser sensor is converged by a large-aperture parabolic reflector to produce a damage spot on the laser target paper.

[0025] Optionally, in step 8, installing and debugging the large field of view photoelectric sensor includes: preliminarily fixing the large field of view photoelectric sensor to the second mounting surface of the multi-channel laser sensor, rotating the precision turntable, observing the damage spot on the laser target paper through the large-aperture parabolic reflector, adjusting the installation posture of the large field of view photoelectric sensor, so that the large field of view photoelectric sensor images the damage spot, the image point of the damage spot is located near the center of the field of view, locking the large field of view photoelectric sensor to the multi-channel laser sensor, and recording the position θ1 of the precision turntable at this time; at this position, accurately adjusting the large field of view photoelectric sensor, continuously making the large field of view photoelectric sensor image the damage spot on the laser target paper, setting the electrical "+" mark of the image generated by the large field of view photoelectric sensor imaging sensor, so that the electrical "+" mark is located at the center of the image. Adjust the pitch and azimuth positions of the imaging sensor of the large field of view photoelectric sensor, so that the damage spot of the imaging image is located at the pitch and azimuth positions of the electrical "+" mark; rotate the precision turntable, and adjust the rotation of the detector on the large field of view photoelectric sensor according to the changes in the height position of the damage spot imaging of the large field of view photoelectric sensor, so that the damage spot moves as much as possible along the horizontal direction of the pixel coordinate system on the detector, and record the number of rows of the damage spot imaging on the detector of the large field of view photoelectric sensor at this time, Pixl1, adjust the electrical "+" mark to X_Pixl rows, and fix and lock the imaging sensor of the large field of view photoelectric sensor; adjust the precision turntable back to the θ1 position, adjust the left and right columns of the electrical "+" mark of the large field of view photoelectric sensor, so that the electrical "+" mark is located at the center of the damage spot, and record the Y_Pixl column.

[0026] Optionally, in step 9, installing and debugging the fast reflector includes: installing the fast reflector on the first outgoing laser light path of the multi-channel laser sensor, resetting the fast reflector to an initial zero position after power-on, the initial zero position being generally half of the range of motion in two orthogonal directions, and adjusting the azimuth and pitch of the fast reflector as a whole, so that the first outgoing light of the multi-channel laser sensor is converged by the fast reflector and the large-aperture parabolic reflector to produce a damage spot on the laser target paper, which is located at the center of the electric "+" of the large-field-of-view photoelectric sensor imaging electrode; removing the laser target paper, and adding a filter to the optical path to weaken the laser energy, so that the first outgoing light of the multi-channel laser sensor is converged by the fast reflector and the large-aperture parabolic reflector and weakened by the filter. Then it can be received by the laser receiver; adjust the rotation of the normal of the fast reflector, and adjust the angle of the fast reflector in one dimension horizontally, adjust the precision turntable in reverse with a step angle of 2 times, and emit the first laser at the same time, use a laser receiver to receive the laser, analyze the height changes of the light spot, and adjust the rotation amount of the fast reflector according to the height changes until the up and down offset of the laser convergence spot received by the laser receiver is reduced to the minimum; adjust the fast reflector to return to the initial zero position, use laser target paper to receive the laser spot, and electrically adjust the fast reflector so that the damage spot where the laser converges on the laser target paper is located at the center of the "+" center position of the large field of view photoelectric sensor imaging electrical signal. At this time, set the pitch and azimuth values ​​of the fast reflector to the final zero position.

[0027] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least:

[0028] An optical axis debugging system for a multi-pointing optoelectronic device with a quick-reflection mirror comprises: a first optical platform, a second optical platform, a high-precision level, a square tube front mirror, a filter, and a light target paper. The optical axis debugging system for a multi-pointing optoelectronic device with a quick-reflection mirror of the present application can provide a horizontal reference plane through the first optical adjustment platform, the second optical adjustment platform, and the third optical adjustment platform; provide a precise angle adjustment amount through a precision turntable to reversely compensate for the deflection angle of a large-angle laser output light beam, and solve the problem that a parabolic reflector with a limited aperture is difficult to achieve convergence of a large-angle deflected laser; realize preliminary adjustment of each adjustment device through the square tube front mirror, and realize precise adjustment of each adjustment device through the theodolite; the relative position of the laser damage spot can be obtained through the laser receiver, and the lateral and longitudinal position changes of the laser damage spot can be accurately analyzed, thereby improving the accuracy and simplicity of the optical axis debugging system.

[0029] Through the above adjustment method, the zero-position pointing of the laser beam of the multi-channel laser sensor can be accurately controlled to be parallel to the optical axis of the large-field-of-view photoelectric sensor, and the parallelism between the laser beam pointing coordinate system of the multi-channel laser sensor and the coordinate system of the large-field-of-view photoelectric sensor can be eliminated.

[0030] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 is a three-dimensional schematic diagram of a multi-directional optoelectronic device provided in an embodiment of the present application;

[0033] Figure 2 yes Figure 1 Schematic diagram of the explosion of the multi-directional optoelectronic device;

[0034] Figure 3 is a three-dimensional schematic diagram of an optical bench provided in an embodiment of the present application;

[0035] Figure 4 It is a three-dimensional schematic diagram of an optical axis debugging system of a multi-pointing optoelectronic device with a fast-reflection mirror provided in an embodiment of the present application;

[0036] Figure 5 is a schematic diagram of adjusting the optical bench provided in an embodiment of the present application;

[0037] Figure 6 is a schematic diagram of the second debugging of a large-aperture parabolic reflector provided in an embodiment of the present application;

[0038] Figure 7 It is a schematic diagram of installing and debugging a multi-channel laser sensor provided in an embodiment of the present application;

[0039] Figure 8 It is a schematic diagram of a method for adjusting the light emission direction of a multi-channel laser sensor provided in an embodiment of the present application;

[0040] Fig. 9 It is a schematic diagram of installing and debugging a large-field-of-view photoelectric sensor provided in an embodiment of the present application;

[0041] Fig.10 It is a schematic diagram of the installation and adjustment method of the fast reflection mirror provided in the embodiment of the present application.

[0042] Description of reference numerals:

[0043] 1-optical stand; 101-base plate; 102-sensor mounting plate; 103-reflector mounting plate; 104-light hole; 2-multi-channel laser sensor; 201-housing; 2011-first mounting surface; 2012-second mounting surface; 3-large field of view photoelectric sensor; 4-fast reflector; 6-precision turntable; 7-large aperture parabolic reflector; 8-high precision level; 9-theodolite; 10-square tube front mirror; 11-filter; 12-laser receiver; 13-laser target paper; 14-first optical adjustment platform; 15-second optical adjustment platform; 16-third optical adjustment platform; 17-first optical platform; 18-second optical platform; S1-first reference surface; S2-second reference surface; S3-third reference surface; A-damage spot. DETAILED DESCRIPTION

[0044] The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

[0045] In the present disclosure, unless otherwise stated, directional words such as "upper" and "lower" generally refer to the "upper" and "lower" of the corresponding parts in the use state relative to the direction of gravity, and "inside" and "outside" refer to the "inside" and "outside" relative to the corresponding parts' own contours. In addition, the terms "first", "second", etc. used in the present disclosure are to distinguish one element from another and do not have order and importance. In the following description, when referring to the drawings, unless otherwise explained, the same figure numbers in different drawings represent the same or similar elements.

[0046] Please refer to Figure 1 and Figure 2 , a multi-pointing optoelectronic device with a fast reflector 4 comprises:

[0047] A large-field-of-view photoelectric sensor 3, wherein a mounting surface of the large-field-of-view photoelectric sensor 3 is parallel to an optical axis of the large-field-of-view photoelectric sensor 3;

[0048] The multi-channel laser sensor 2 includes a housing 201, the housing having a first mounting surface 2011 and a second mounting surface 2012 which are vertically arranged and parallel to each other, two multi-channel laser sensors 2 are vertically arranged on the first mounting surface 2011, and the direction of the emitted light of the multi-channel laser sensor 2 is away from the first mounting surface 2011; and an optical bench 1, please refer to Figure 2 and Figure 3, including a base plate 101 and a sensor mounting plate 102 vertically arranged on the upper surface of the base plate 101; the first side surface of the sensor mounting plate 102 is used to install the multi-channel laser sensor 2 through the first mounting surface 2011, and the second side surface is provided with a reflector mounting plate 103 perpendicular to the base plate 101, and the angle between the reflector mounting plate 103 and the sensor mounting plate 102 is 45°, the sensor mounting plate 102 has two light holes 104 vertically arranged from top to bottom, the two light holes 104 correspond to the two laser emitters, and two fast reflectors 4 are vertically installed from top to bottom on the side of the reflector mounting plate 103 facing the sensor mounting plate 102; the optical bench 1 has a first reference surface S1 and a second reference surface S2; the first reference surface S1 is the second side surface of the sensor mounting plate 102, and the first reference surface S1 is provided with a first plane mirror; the second reference surface S2 is the side surface of the optical bench 1 that is perpendicular to the base plate 101 and the sensor mounting plate 102 and is closer to the light hole 104.

[0049] According to the first aspect of this application, please refer to Figure 4 , an optical axis debugging system for a multi-pointing optoelectronic device with a fast-reflecting mirror is provided, the optical axis debugging system comprising: a first optical platform 17, on which a first optical adjustment platform 14, a theodolite 9 and a third optical adjustment platform 16 are arranged along a first direction; wherein a precision turntable 6 is arranged on the first optical adjustment platform 14, on which a multi-pointing optoelectronic device is arranged, and a laser receiver 12 is arranged on the third optical adjustment platform 16; a second optical platform 18, located to the side of the first optical platform 17, on which a second optical adjustment platform 15 is arranged, on which a large-aperture parabolic reflector 7 facing the multi-pointing optoelectronic device is arranged, the large-aperture parabolic reflector 7 having a third reference surface S3 perpendicular to the optical axis of the large-aperture parabolic reflector 7; wherein, when the optical axis of the theodolite 9 is parallel to the first direction, When the multi-pointing optoelectronic device is in operation, when the first reference plane S1 is rotated to be perpendicular to the optical axis of the theodolite 9, the theodolite 9 is perpendicular to the first reference plane S1; when the theodolite 9 is turned to the large-aperture parabolic reflector 7, the theodolite 9 is perpendicular to the third reference plane S3; it also includes a high-precision level 8, which can be used to calibrate the first optical adjustment platform 14, the second optical adjustment platform 15, the third optical adjustment platform 16, the first optical platform 17 and the second optical platform 18; the square tube front mirror 10 can be used to coarsely adjust the rotation angle of the precision turntable 6; a filter 11, which is installed between the laser receiver 12 and the large-aperture parabolic reflector 7, and is used to weaken the energy of the laser beam to prevent damage to the laser receiver; and a laser target paper 13, which is used to form a damage spot A during the debugging process, so as to debug the large-field photoelectric sensor 3 according to the damage spot A.

[0050] In the above embodiment, for example, based on the optical axis debugging system of the multi-pointing optoelectronic device with a quick reflex mirror, the optical axis debugging method of the multi-pointing optoelectronic device with a quick reflex mirror includes the following steps:

[0051] Step 1, fix the high-precision precision turntable 6 on the first optical platform 17 to keep the table surface of the precision platform level;

[0052] Step 2, fix the theodolite 9 on the first optical platform 17, keep the base of the theodolite 9 horizontal, and adjust the pitch angle of the optical axis of the theodolite 9 to 90°;

[0053] Step 3, first debug the large-aperture parabolic reflector 7, so that the multi-channel laser sensor 2 and the laser receiver 12 form an assembly circuit; for details, please refer to Figure 1 In step 3, the first debugging of the large-aperture parabolic reflector 7 includes: adjusting the table of the second optical adjustment platform 15 to keep it horizontal through the high-precision level 8, finely adjusting the large-aperture parabolic reflector 7 through the theodolite 9, and fine-tuning the second optical adjustment platform 15, so that the reference surface of the large-aperture parabolic reflector 7 is kept vertical to the theodolite 9. The laser receiver 12 is fixed on the third optical adjustment platform 16 and placed in the assembly optical path as a whole; the high-precision level 8 is placed on the third optical adjustment platform 16, and the level is adjusted by the high-precision level 8. In order to ensure that the laser receiver 12 is not damaged by the laser beam, a filter 11 is placed between the laser receiver 12 and the large-aperture parabolic reflector 7. The laser target paper 13 can be attached to the front surface of the laser receiver 12; the entire optical path is arranged on the first optical platform 17 and the second optical platform 18 to ensure the stability of the system.

[0054] Step 4: Adjust the optical bench 1 so that the first reference surface S1 is perpendicular to the horizontal plane. For details, please refer to Figures 3 to 5 In step 4, the optical bench 1 is placed on the precision turntable 6, and the posture of the optical bench 1 is adjusted so that the outgoing light of the theodolite 9 is reflected by the sensor mounting surface of the optical bench 1 corresponding to the first reference surface S1, and the light returns along the original path to form a self-collimated image inside the theodolite 9, so as to ensure that the first side surface of the sensor mounting plate 102 is perpendicular to the horizontal plane.

[0055] Step 5: debug the large-aperture parabolic reflector 7 for the second time, so that the large-aperture parabolic reflector 7 is perpendicular to the horizontal plane; for details, please refer to Figure 6In step 5, the large-aperture parabolic reflector 7 is placed on the second optical adjustment platform 15 and is placed as a whole in the assembly optical path; the high-precision level 8 is placed on the second optical adjustment platform 15, and the high-precision level 8 is calibrated in the orthogonal direction to adjust the second optical adjustment platform 15 so that the second optical adjustment platform 15 remains horizontal; the theodolite 9 is rotated horizontally and the large-aperture parabolic reflector 7 is slightly adjusted, and the second optical adjustment platform 15 is slightly adjusted so that the reference plane of the large-aperture parabolic reflector 7 is kept perpendicular to the theodolite 9, thereby ensuring that the large-aperture parabolic reflector 7 is perpendicular to the horizontal plane.

[0056] Step 6: Install and debug the multi-channel laser sensor 2 so that the emitted light of the multi-channel laser sensor 2 is parallel to the horizontal plane. For details, please refer to Figure 7 In step 6, the theodolite 9 is rotated to return to the initial state parallel to the first direction, that is, the optical axis of the theodolite 9 is parallel to the straight line formed by the first optical adjustment platform 14, the theodolite 9 and the third optical adjustment platform 16. The multi-channel laser sensor 2 is initially fixed to the optical bench 1, and the installation posture of the multi-channel laser sensor 2 is adjusted so that the theodolite 9 can form a self-collimated image through the third reference surface S3, and the multi-channel laser sensor 2 is locked on the optical bench 1, so as to achieve the purpose of adjusting the output light of the multi-channel laser sensor 2 to be parallel to the horizontal plane.

[0057] Step 7, use the square tube front mirror 10 to adjust the precision turntable 6, so that the outgoing light of the multi-channel laser sensor 2 is converged by the large-aperture parabolic reflector 7 to produce a damage spot A on the laser target paper 13; for details, please refer to Figure 8 In step 7, the square tube front mirror 10 is adjusted to lean against the second reference surface S2 of the optical bench 1, and the precision turntable 6 is rotated until the square tube front mirror 10 observes the laser target paper 13. When it is observed that the cross center of the square tube front mirror 10 is located near the center position of the laser receiver 12, the rotation of the precision turntable 6 is stopped; the laser output light of the multi-channel laser sensor 2 is converged by the large-aperture parabolic reflector 7 to generate a damage spot A on the laser target paper 13.

[0058] Step 8: Install, debug and fix the large field of view photoelectric sensor 3; for details, please refer to Fig. 9In step 8, installing and debugging the large field of view photoelectric sensor 3 includes: preliminarily fixing the large field of view photoelectric sensor 3 on the second installation surface 2012 of the multi-channel laser sensor 2, rotating the precision turntable 6, observing the damage spot A on the laser target paper 13 through the large-aperture parabolic reflector 7, adjusting the installation posture of the large field of view photoelectric sensor 3, so that the large field of view photoelectric sensor 3 images the damage spot A, and the image point of the damage spot A is located near the center of the field of view, locking the large field of view photoelectric sensor 3 to the multi-channel laser sensor 2, and recording the position θ1 of the precision turntable 6 at this time; at this position, accurately adjusting the large field of view photoelectric sensor 3, continuously making the large field of view photoelectric sensor 3 image the damage spot A on the laser target paper 13, setting the electrical "+" mark of the image generated by the large field of view photoelectric sensor 3 imaging sensor, so that the electrical "+" mark is located at the center of the image, adjusting the pitch and azimuth positions of the large field of view photoelectric sensor 3 imaging sensor, so that the damage spot A of the imaging image The damaged spot A is located at the pitch and azimuth position of the electrical "+" mark; the precision turntable 6 is rotated, and according to the change in the height position of the damaged spot A imaging of the large field of view photoelectric sensor 3, the detector on the large field of view photoelectric sensor 3 is adjusted to rotate around its optical axis, so that the damaged spot A moves as much as possible along the horizontal direction of the pixel coordinate system on the detector, ensuring that the imaging horizontal direction of the detector is parallel to the horizontal direction of the theodolite, and the row number Pixl1 of the damaged spot A imaging on the detector of the large field of view photoelectric sensor 3 at this time is recorded, and the electrical "+" mark is adjusted to the X_Pixl row, and the imaging sensor of the large field of view photoelectric sensor 3 is fixed and locked. At this point, the horizontal direction and 0-position height adjustment of the large field of view photoelectric sensor 3 are completed; the precision turntable 6 is adjusted back to the θ1 position, and the left and right columns of the electrical "+" mark of the large field of view photoelectric sensor 3 are adjusted so that the electrical "+" mark is located at the center of the damaged spot A, and the Y_Pixl column is recorded; at this point, the 0-position azimuth adjustment of the large field of view photoelectric sensor 3 is completed.

[0059] Step 9, install and debug the upper fast reflector 4, so that the first output light of the multi-channel laser sensor 2 and the imaging sensor have the same zero position, the optical axis points in the same direction, and the axes of the coordinate system are parallel; specifically, in step 9, refer to Fig.10, installing and debugging the upper fast reflector 4 includes: installing the fast reflector 4 on the first outgoing laser light path of the multi-channel laser sensor 2, resetting the fast reflector 4 to the initial zero position after power-on, the initial zero position is generally half of the motion range in two orthogonal directions, and adjusting the azimuth and pitch of the fast reflector 4 as a whole, so that the first outgoing light of the multi-channel laser sensor 2 is converged by the fast reflector 4 and the large-aperture parabolic reflector 7 to produce a damage spot A on the laser target paper 13, which is located at the center of the imaging electric "+" character of the large-field photoelectric sensor 3; removing the laser target paper 13, and adding a filter 11 in the optical path to weaken the laser energy, so that the first outgoing light of the multi-channel laser sensor 2 is converged by the fast reflector 4 and the large-aperture parabolic reflector 7 and weakened by the filter 11, and can be received by the laser receiver 12; adjusting The normal rotation of the quick reflector 4 is adjusted, and the angle of the quick reflector 4 is adjusted in one dimension along the horizontal direction. The precision turntable 6 is adjusted in the reverse direction with a step angle of 2 times. At the same time, the first laser is emitted, and the laser receiver 12 is used to receive the laser. The height change of the light spot is analyzed, and the rotation amount of the quick reflector 4 is adjusted according to the height change, until the up and down offset of the laser convergence spot received by the laser receiver 12 is reduced to the minimum; so far, it is ensured that the horizontal direction of the quick reflector is parallel to the horizontal direction of the theodolite; the quick reflector 4 is adjusted to return to the initial zero position, and the laser target paper 13 is used to receive the laser light spot. The quick reflector 4 is electrically adjusted so that the damage spot A on the laser target paper 13 where the laser converges is located at the center of the imaging electrical "+" center position of the large field of view photoelectric sensor 3. At this time, the pitch and azimuth values ​​of the quick reflector 4 are set to be calibrated as the final zero position.

[0060] Step 10, repeat step 9, install and debug the lower fast reflector 4, so that the second output light of the multi-channel laser sensor 2 and the imaging sensor have the same zero position, the optical axis points in the same direction, and the axes of the coordinate system are parallel.

[0061] The optical axis debugging system of a multi-pointing optoelectronic device with a fast-reflection mirror provided in the embodiment of the present application can provide a horizontal reference plane through a first optical adjustment platform, a second optical adjustment platform and a third optical adjustment platform; provide precise angle adjustment through a precision turntable to reversely compensate for the deflection angle of a large-angle laser output light beam, thereby solving the problem that a parabolic reflector with a limited aperture is difficult to achieve large-angle deflection laser convergence; achieve preliminary adjustment of each adjustment device through a square tube front mirror, and achieve precise adjustment of each adjustment device through a theodolite; the relative position of the laser damage spot can be obtained through a laser receiver, and the lateral and longitudinal position changes of the laser damage spot can be accurately analyzed, thereby improving the accuracy and simplicity of the optical axis debugging system.

[0062] Through the above adjustment method, the zero-position pointing of the laser beam of the multi-channel laser sensor can be accurately controlled to be parallel to the optical axis of the large-field-of-view photoelectric sensor, and the parallelism between the laser beam pointing coordinate system of the multi-channel laser sensor and the coordinate system of the large-field-of-view photoelectric sensor can be eliminated.

[0063] It should be noted that the embodiment of the present application uses two fast reflection mirrors 4 arranged vertically to schematically illustrate the principle of the present application. Undoubtedly, three, four or even more fast reflection mirrors 4 can also be arranged vertically, and the present application does not limit this.

[0064] According to another aspect of the present application, a method for debugging an optical axis of a multi-pointing optoelectronic device with a quick-reflection mirror is provided. Based on the optical axis debugging system of the multi-pointing optoelectronic device with a quick-reflection mirror, the debugging method comprises the following steps:

[0065] Step 1, fix the high-precision precision turntable 6 on the first optical platform 17 to keep the table surface of the precision platform level;

[0066] Step 2, fix the theodolite 9 on the first optical platform 17, keep the base of the theodolite 9 horizontal, and adjust the pitch angle of the optical axis of the theodolite 9 to 90°;

[0067] Step 3, debugging the large-aperture parabolic reflector 7 for the first time, so that the multi-channel laser sensor 2 and the laser receiver 12 form an assembly loop;

[0068] Step 4, adjusting the optical bench 1 so that the first reference surface S1 is perpendicular to the horizontal plane;

[0069] Step 5, debugging the large-aperture parabolic reflector 7 for the second time, so that the large-aperture parabolic reflector 7 is perpendicular to the horizontal plane;

[0070] Step 6, installing and debugging the multi-channel laser sensor 2 so that the outgoing light of the multi-channel laser sensor 2 is parallel to the horizontal plane;

[0071] Step 7, use the square tube front mirror 10 to adjust the precision turntable 6, so that the outgoing light of the multi-channel laser sensor 2 is converged by the large-aperture parabolic reflector 7 to generate a damage spot A on the laser target paper 13;

[0072] Step 8, installing, debugging and fixing the large field of view photoelectric sensor 3;

[0073] Step 9, install and debug the upper fast reflector 4, so that the first output light of the multi-channel laser sensor 2 and the imaging sensor have the same zero position, the optical axis points in the same direction, and the axes of the coordinate system are parallel;

[0074] Step 10, repeat step 9, install and debug the lower fast reflector 4, so that the second output light of the multi-channel laser sensor 2 and the imaging sensor have the same zero position, the optical axis points in the same direction, and the axes of the coordinate system are parallel.

[0075] Optional, please refer to Figure 1In step 3, the first debugging of the large-aperture parabolic reflector 7 includes: adjusting the table of the second optical adjustment platform 15 to keep it horizontal through the high-precision level 8, finely adjusting the large-aperture parabolic reflector 7 through the theodolite 9, and fine-tuning the second optical adjustment platform 15, so that the reference surface of the large-aperture parabolic reflector 7 is kept vertical to the theodolite 9. The laser receiver 12 is fixed on the third optical adjustment platform 16 and placed in the assembly optical path as a whole; the high-precision level 8 is placed on the third optical adjustment platform 16, and the level is adjusted by the high-precision level 8. In order to ensure that the laser receiver 12 is not damaged by the laser beam, a filter 11 is placed between the laser receiver 12 and the large-aperture parabolic reflector 7. The laser target paper 13 can be attached to the front surface of the laser receiver 12; the entire optical path is arranged on the first optical platform 17 and the second optical platform 18 to ensure the stability of the system.

[0076] Optional, please refer to Figures 3 to 5 In step 4, the optical bench 1 is placed on the precision turntable 6, and the posture of the optical bench 1 is adjusted so that the outgoing light of the theodolite 9 is reflected by the sensor mounting surface of the optical bench 1 corresponding to the first reference surface S1, and the light returns along the original path to form a self-collimated image inside the theodolite 9, so as to ensure that the first side surface of the sensor mounting plate 102 is perpendicular to the horizontal plane.

[0077] Optional, please refer to Figure 6 In step 5, the large-aperture parabolic reflector 7 is placed on the second optical adjustment platform 15 and is placed as a whole in the assembly optical path; the high-precision level 8 is placed on the second optical adjustment platform 15, and the high-precision level 8 is calibrated in the orthogonal direction to adjust the second optical adjustment platform 15 so that the second optical adjustment platform 15 remains horizontal; the theodolite 9 is rotated horizontally and the large-aperture parabolic reflector 7 is slightly adjusted, and the second optical adjustment platform 15 is slightly adjusted so that the reference plane of the large-aperture parabolic reflector 7 is kept perpendicular to the theodolite 9, thereby ensuring that the large-aperture parabolic reflector 7 is perpendicular to the horizontal plane.

[0078] Optional, please refer to Figure 7 In step 6, the theodolite 9 is rotated to return to the initial state parallel to the first direction, that is, the optical axis of the theodolite 9 is parallel to the straight line formed by the first optical adjustment platform 14, the theodolite 9 and the third optical adjustment platform 16. The multi-channel laser sensor 2 is initially fixed to the optical bench 1, and the installation posture of the multi-channel laser sensor 2 is adjusted so that the theodolite 9 can form a self-collimated image through the third reference surface S3, and the multi-channel laser sensor 2 is locked on the optical bench 1, so as to achieve the purpose of adjusting the output light of the multi-channel laser sensor 2 to be parallel to the horizontal plane.

[0079] Optional, please refer to Figure 8In step 7, the square tube front mirror 10 is adjusted to lean against the second reference surface S2 of the optical bench 1, and the precision turntable 6 is rotated until the square tube front mirror 10 observes the laser target paper 13. When it is observed that the cross center of the square tube front mirror 10 is located near the center position of the laser receiver 12, the rotation of the precision turntable 6 is stopped; the laser output light of the multi-channel laser sensor 2 is converged by the large-aperture parabolic reflector 7 to generate a damage spot A on the laser target paper 13.

[0080] Optional, please refer to Fig. 9 In step 8, installing and debugging the large field of view photoelectric sensor 3 includes: preliminarily fixing the large field of view photoelectric sensor 3 on the second installation surface 2012 of the multi-channel laser sensor 2, rotating the precision turntable 6, observing the damage spot A on the laser target paper 13 through the large-aperture parabolic reflector 7, adjusting the installation posture of the large field of view photoelectric sensor 3, so that the large field of view photoelectric sensor 3 images the damage spot A, and the image point of the damage spot A is located near the center of the field of view, locking the large field of view photoelectric sensor 3 to the multi-channel laser sensor 2, and recording the position θ1 of the precision turntable 6 at this time; at this position, accurately adjusting the large field of view photoelectric sensor 3, continuously making the large field of view photoelectric sensor 3 image the damage spot A on the laser target paper 13, setting the electrical "+" mark of the image generated by the large field of view photoelectric sensor 3 imaging sensor, so that the electrical "+" mark is located at the center of the image, adjusting the pitch and azimuth positions of the large field of view photoelectric sensor 3 imaging sensor, so that the damage spot A of the imaging image The damaged spot A is located at the pitch and azimuth position of the electrical "+" mark; the precision turntable 6 is rotated, and according to the change in the height position of the damaged spot A imaging of the large field of view photoelectric sensor 3, the detector on the large field of view photoelectric sensor 3 is adjusted to rotate around its optical axis, so that the damaged spot A moves as much as possible along the horizontal direction of the pixel coordinate system on the detector, ensuring that the imaging horizontal direction of the detector is parallel to the horizontal direction of the theodolite, and the row number Pixl1 of the damaged spot A imaging on the detector of the large field of view photoelectric sensor 3 at this time is recorded, and the electrical "+" mark is adjusted to the X_Pixl row, and the imaging sensor of the large field of view photoelectric sensor 3 is fixed and locked. At this point, the horizontal direction and 0-position height adjustment of the large field of view photoelectric sensor 3 are completed; the precision turntable 6 is adjusted back to the θ1 position, and the left and right columns of the electrical "+" mark of the large field of view photoelectric sensor 3 are adjusted so that the electrical "+" mark is located at the center of the damaged spot A, and the Y_Pixl column is recorded; at this point, the 0-position azimuth adjustment of the large field of view photoelectric sensor 3 is completed.

[0081] Optionally, in step 9, refer to Fig.10, installing and debugging the upper fast reflector 4 includes: installing the fast reflector 4 on the first outgoing laser light path of the multi-channel laser sensor 2, resetting the fast reflector 4 to the initial zero position after power-on, the initial zero position is generally half of the motion range in two orthogonal directions, and adjusting the azimuth and pitch of the fast reflector 4 as a whole, so that the first outgoing light of the multi-channel laser sensor 2 is converged by the fast reflector 4 and the large-aperture parabolic reflector 7 to produce a damage spot A on the laser target paper 13, which is located at the center of the imaging electric "+" character of the large-field photoelectric sensor 3; removing the laser target paper 13, and adding a filter 11 in the optical path to weaken the laser energy, so that the first outgoing light of the multi-channel laser sensor 2 is converged by the fast reflector 4 and the large-aperture parabolic reflector 7 and weakened by the filter 11, and can be received by the laser receiver 12; adjusting The normal rotation of the quick reflector 4 is adjusted, and the angle of the quick reflector 4 is adjusted in one dimension along the horizontal direction. The precision turntable 6 is adjusted in the reverse direction with a step angle of 2 times. At the same time, the first laser is emitted, and the laser receiver 12 is used to receive the laser. The height change of the light spot is analyzed, and the rotation amount of the quick reflector 4 is adjusted according to the height change, until the up and down offset of the laser convergence spot received by the laser receiver 12 is reduced to the minimum; so far, it is ensured that the horizontal direction of the quick reflector is parallel to the horizontal direction of the theodolite; the quick reflector 4 is adjusted to return to the initial zero position, and the laser target paper 13 is used to receive the laser light spot. The quick reflector 4 is electrically adjusted so that the damage spot A on the laser target paper 13 where the laser converges is located at the center of the imaging electrical "+" center position of the large field of view photoelectric sensor 3. At this time, the pitch and azimuth values ​​of the quick reflector 4 are set to be calibrated as the final zero position.

[0082] Repeat step 9 and install and debug the lower fast reflector 4 in the same way.

[0083] Through the above adjustment method, the zero-position pointing of the laser beam of the multi-channel laser sensor can be accurately controlled to be parallel to the optical axis of the large-field-of-view photoelectric sensor 3, and the parallelism between the laser beam pointing coordinate system of the multi-channel laser sensor and the coordinate system of the large-field-of-view photoelectric sensor 3 can be eliminated.

[0084] It should be noted that the embodiment of the present application uses two fast reflection mirrors 4 arranged vertically to schematically illustrate the principle of the present application. Undoubtedly, three, four or even more fast reflection mirrors 4 can also be arranged vertically, and the present application does not limit this.

[0085] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0086] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0087] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. An optical axis debugging system for a multi-pointing optoelectronic device with a fast-reflecting mirror, characterized in that: The multi-pointing optoelectronic device with a fast-reflecting mirror comprises: A large-field-of-view photoelectric sensor (3), wherein the mounting surface of the large-field-of-view photoelectric sensor (3) is parallel to the optical axis of the large-field-of-view photoelectric sensor (3); A multi-channel laser sensor (2), the multi-channel laser sensor (2) comprising a housing (201), the housing (201) having a first mounting surface (2011) and a second mounting surface (2012) which are arranged vertically and parallel to each other, two multi-channel laser sensors (2) being arranged vertically on the first mounting surface (2011), and an emitting light direction of the multi-channel laser sensor (2) facing away from the first mounting surface (2011); and an optical bench (1), the optical bench (1) comprising a base plate (101) and a sensor mounting plate (102) vertically arranged on the upper surface of the base plate (101); a first side surface of the sensor mounting plate (102) is used to mount the multi-channel laser sensor (2) through the first mounting surface (2011); a second side surface is provided with a reflector mounting plate (103) vertically to the base plate (101), and the angle between the reflector mounting plate (103) and the sensor mounting plate (102) is 45°; the sensor mounting plate (102) has two light holes (104) vertically arranged from top to bottom, the two light holes (104) corresponding to the two laser emitters; and two fast reflectors (4) are vertically mounted from top to bottom on the side of the reflector mounting plate (103) facing the sensor mounting plate (102); The optical bench (1) has a first reference surface (S1) and a second reference surface (S2); the first reference surface (S1) is the second side surface of the sensor mounting plate (102), and a first plane mirror is arranged on the first reference surface (S1); The second reference surface (S2) is a side surface on the optical bench (1) that is perpendicular to both the base plate (101) and the sensor mounting plate (102) and is closer to the light hole (104); The optical axis debugging system comprises: A first optical platform (17), wherein a first optical adjustment platform (14), a theodolite (9) and a third optical adjustment platform (16) are arranged on the first optical platform (17) along a first direction; wherein a precision turntable (6) is arranged on the first optical adjustment platform (14), the multi-pointing optoelectronic device is arranged on the precision turntable (6), and a laser receiver (12) is arranged on the third optical adjustment platform (16); a second optical platform (18) located on the side of the first optical platform (17); a second optical adjustment platform (15) is arranged on the second optical platform (18); a large-aperture parabolic reflector (7) facing the multi-directional optoelectronic device is arranged on the second optical adjustment platform (15); the large-aperture parabolic reflector (7) has a third reference surface (S3) perpendicular to the optical axis of the large-aperture parabolic reflector (7); Wherein, when the optical axis of the theodolite (9) is parallel to the first direction, when the multi-pointing optoelectronic device is rotated until the first reference plane (S1) is perpendicular to the optical axis of the theodolite (9), the theodolite (9) is perpendicular to the first reference plane (S1); when the theodolite (9) is turned toward the large-aperture parabolic reflector (7), the theodolite (9) is perpendicular to the third reference plane (S3); High-precision level (8); Square tube front mirror (10); Filter (11); And, laser target paper (13).

2. A method for debugging the optical axis of a multi-pointing optoelectronic device with a fast-reflecting mirror, characterized in that: Based on the optical axis debugging system of the multi-pointing optoelectronic device with a fast-reflection mirror according to claim 1, the debugging method comprises the following steps: Step 1, fixing a high-precision precision turntable (6) on the first optical platform (17) so that the table surface of the precision platform remains horizontal; Step 2, fixing the theodolite (9) on the first optical platform (17), keeping the base of the theodolite (9) horizontal, and adjusting the pitch angle of the optical axis of the theodolite (9) to 90°; Step 3, debugging the large-aperture parabolic reflector (7) for the first time, so that the multi-channel laser sensor (2) and the laser receiver (12) form an assembly loop; Step 4, adjusting the optical bench (1) so that the first reference plane (S1) is perpendicular to the horizontal plane; Step 5, debugging the large-aperture parabolic reflector (7) for the second time, so that the large-aperture parabolic reflector (7) is perpendicular to the horizontal plane; Step 6, installing and debugging the multi-channel laser sensor (2) so that the outgoing light of the multi-channel laser sensor (2) is parallel to the horizontal plane; Step 7, using a square tube front mirror (10) to adjust the precision turntable (6), so that the outgoing light of the multi-channel laser sensor (2) is converged by a large-aperture parabolic reflector (7) to generate a damage spot (A) on the laser target paper (13); Step 8, installing, debugging and fixing the large field of view photoelectric sensor (3); Step 9, installing and debugging the upper fast reflector (4) so ​​that the first output light of the multi-channel laser sensor (2) and the imaging sensor have the same zero position, the same optical axis direction, and the axes of the coordinate system are parallel; Step 10, repeat step 9, install and debug the lower fast reflector (4), so that the second output light of the multi-channel laser sensor (2) and the imaging sensor have the same zero position, the optical axis points in the same direction, and the axes of the coordinate system are parallel.

3. The optical axis debugging method of a multi-directional optoelectronic device with a fast-reflection mirror according to claim 2, characterized in that: In step 3, the first debugging of the large-aperture parabolic reflector (7) includes: adjusting the table surface of the second optical adjustment platform (15) to keep it horizontal by using a high-precision level (8), finely adjusting the large-aperture parabolic reflector (7) by using a theodolite (9), and fine-tuning the second optical adjustment platform (15) so that the reference surface of the large-aperture parabolic reflector (7) and the theodolite (9) remain vertical; The laser receiver (12) is fixed on a third optical adjustment platform (16) and placed as a whole in an assembly optical path; a high-precision level (8) is placed on the third optical adjustment platform (16), and the level is adjusted by the high-precision level (8); a filter (11) is placed between the laser receiver (12) and a large-aperture parabolic reflector (7); a laser target paper (13) can be attached to the front surface of the laser receiver (12); and the entire optical path is arranged on a first optical platform (17) and a second optical platform (18).

4. The optical axis debugging method of a multi-directional optoelectronic device with a fast-reflection mirror according to claim 2, characterized in that: In step 4, the optical bench (1) is placed on the precision turntable (6), and the posture of the optical bench (1) is adjusted so that the outgoing light of the theodolite (9) is reflected by the sensor mounting surface of the optical bench (1) corresponding to the first reference surface (S1), and the light returns along the original path to form a self-collimated image inside the theodolite (9), ensuring that the first side surface of the sensor mounting plate (102) is perpendicular to the horizontal plane.

5. The optical axis debugging method of a multi-directional optoelectronic device with a fast-reflection mirror according to claim 2, characterized in that: In step 5, the large-aperture parabolic reflector (7) is placed on the second optical adjustment platform (15), and the whole is placed in the assembly optical path; a high-precision level (8) is placed on the second optical adjustment platform (15), and the high-precision level (8) is used to calibrate in an orthogonal direction, and the second optical adjustment platform (15) is adjusted to keep the second optical adjustment platform (15) horizontal; the theodolite (9) is rotated horizontally and the large-aperture parabolic reflector (7) is finely adjusted, and the second optical adjustment platform (15) is finely adjusted to keep the reference plane of the large-aperture parabolic reflector (7) perpendicular to the theodolite (9), thereby ensuring that the large-aperture parabolic reflector (7) is perpendicular to the horizontal plane.

6. The optical axis debugging method of a multi-directional optoelectronic device with a fast-reflection mirror according to claim 2, characterized in that: In step 6, the theodolite (9) is rotated to return to an initial state parallel to the first direction, the multi-channel laser sensor (2) is initially fixed to the optical bench (1), the installation posture of the multi-channel laser sensor (2) is adjusted so that the theodolite (9) can form a self-collimated image through the third reference surface (S3), the multi-channel laser sensor (2) is locked on the optical bench (1), and the output light of the multi-channel laser sensor (2) is adjusted to be parallel to the horizontal plane.

7. The optical axis debugging method of a multi-directional optoelectronic device with a fast-reflection mirror according to claim 2, characterized in that: In step 7, the square tube front mirror (10) is adjusted to lean against the second reference surface (S2) of the optical bench (1), and the precision turntable (6) is rotated until the square tube front mirror (10) observes the laser target paper (13). When it is observed that the cross center of the square tube front mirror (10) is located near the center position of the laser receiver (12), the rotation of the precision turntable (6) is stopped; the laser output light of the multi-channel laser sensor (2) is converged by the large-aperture parabolic reflector (7) to generate a damage spot (A) on the laser target paper (13).

8. The optical axis debugging method of a multi-directional optoelectronic device with a fast-reflection mirror according to claim 2, characterized in that: In step 8, installing and debugging the large-field-of-view photoelectric sensor (3) includes: preliminarily fixing the large-field-of-view photoelectric sensor (3) on the second mounting surface (2012) of the multi-channel laser sensor (2), rotating the precision turntable (6), observing the damage spot (A) on the laser target paper (13) through the large-aperture parabolic reflector (7), adjusting the mounting posture of the large-field-of-view photoelectric sensor (3), so that the large-field-of-view photoelectric sensor (3) images the damage spot (A), and the image point of the damage spot (A) is located near the center of the field of view, locking the large-field-of-view photoelectric sensor (3) to the multi-channel laser sensor (2), and recording the position θ1 of the precision turntable (6) at this time; at this position, accurately adjusting the large-field-of-view photoelectric sensor (3), continuously allowing the large-field-of-view photoelectric sensor (3) to image the damage spot (A) on the laser target paper (13), setting the electrical "+" mark of the image generated by the imaging sensor of the large-field-of-view photoelectric sensor (3), and making the electrical "+" mark The "+" character mark is located at the center of the image, and the pitch and azimuth positions of the imaging sensor of the large field of view photoelectric sensor (3) are adjusted so that the damaged spot (A) of the imaging image is located at the pitch and azimuth positions of the "+" character mark; the precision turntable (6) is rotated, and according to the change of the height position of the damaged spot (A) of the large field of view photoelectric sensor (3), the rotation of the detector on the large field of view photoelectric sensor (3) is adjusted so that the damaged spot (A) moves as much as possible along the horizontal direction of the pixel coordinate system on the detector, and the number of rows of the damaged spot (A) imaged on the detector of the large field of view photoelectric sensor (3) is recorded, and the "+" character mark is adjusted to the X_Pix1 row, and the imaging sensor of the large field of view photoelectric sensor (3) is fixed and locked; the precision turntable (6) is adjusted back to the θ1 position, and the left and right columns of the "+" character mark of the large field of view photoelectric sensor (3) are adjusted so that the "+" character mark is located at the center of the damaged spot (A), and the Y_Pix1 column is recorded.

9. The optical axis debugging method of a multi-directional optoelectronic device with a fast-reflection mirror according to claim 2, characterized in that: In step 9, installing and debugging the fast reflector (4) includes: installing the fast reflector (4) on the first outgoing laser light path of the multi-channel laser sensor (2), resetting the fast reflector (4) to an initial zero position after power-on, the initial zero position generally being half of the range of motion in two orthogonal directions, and adjusting the azimuth and pitch of the fast reflector (4) as a whole, so that the first outgoing light of the multi-channel laser sensor (2) is converged by the fast reflector (4) and the large-aperture parabolic reflector (7) to generate a damage spot (A) on the laser target paper (13) located at the center position of the imaging electric "+" character of the large-field photoelectric sensor (3); removing the laser target paper (13), and adding a filter (11) in the light path to weaken the laser energy, so that the first outgoing light of the multi-channel laser sensor (2) is converged by the fast reflector (4) and the large-aperture parabolic reflector (7) and the filter (11) After being weakened, it can be received by the laser receiver (12); adjusting the rotation of the normal of the fast reflection mirror (4), and adjusting the angle of the fast reflection mirror (4) in one dimension in the horizontal direction, adjusting the precision turntable (6) in the opposite direction at a 2-fold step angle, emitting the first laser beam at the same time, using the laser receiver (12) to receive the laser beam, analyzing the height change of the light spot, and adjusting the rotation amount of the fast reflection mirror (4) according to the height change until the vertical offset of the laser convergence spot received by the laser receiver (12) is reduced to the minimum; adjusting the fast reflection mirror (4) to return to the initial zero position, using the laser target paper (13) to receive the laser light spot, and electrically adjusting the fast reflection mirror (4) so ​​that the damage spot (A) where the laser beam converges on the laser target paper (13) is located at the center of the imaging electric "+" center position of the large field of view photoelectric sensor (3), and at this time, setting the pitch and azimuth values ​​of the fast reflection mirror (4) to be calibrated as the final zero position.

Images