Optical axis debugging system and debugging method of multi-directional photoelectric device with fast mirror

Abstract

The application discloses a light axis debugging system and method of a multi-directional photoelectric device with a fast reflecting mirror. The light axis debugging system 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 light axis debugging system of the multi-directional photoelectric device with the fast reflecting mirror can provide a horizontal reference plane through the first optical adjustment platform, the second optical adjustment platform and the third optical adjustment platform; the preliminary adjustment of each assembly and adjustment device is realized through the square tube front mirror, and the accurate adjustment of each assembly and adjustment device is realized through the theodolite. The light axis debugging system of the multi-directional photoelectric device with the fast reflecting mirror can accurately control the zero pointing of the laser beam of the multi-channel laser sensor and the parallelism of the light axis of the large field of view light detection photoelectric sensor, and eliminate the parallelism of the coordinate system of the laser beam pointing of the multi-channel laser sensor and the coordinate system of the large field of view photoelectric sensor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of precision optical machine design and assembly, in particular to a light axis debugging system and method for a multi-directional photoelectric device with a fast mirror. BACKGROUND

[0002] With the development of photoelectric technology towards large field of view multi-target detector, new requirements are put forward for laser pointing technology, which requires the photoelectric system to be able to irradiate and indicate multiple discovered targets simultaneously. The fast mirror, i.e. the fast reflecting mirror, is an essential part for accurately controlling the direction of the light beam. Therefore, the method of using multiple lasers and cooperating with multiple fast reflecting mirrors to accurately modulate the laser pointing has been widely applied.

[0003] According to the use requirements of multi-target photoelectric imaging detection indicators, the corresponding laser beams need to be accurately pointed to each target by controlling multiple fast mirror drives. In order to ensure the accurate correspondence between the laser light path pointing and the photoelectric detector imaging target surface, it is necessary to first ensure that the laser pointing coordinate system and the photoelectric imaging coordinate system are completely parallel in the three axis directions. It is difficult to meet the assembly and adjustment requirements by using the conventional multi-aperture optical path assembly and adjustment method, and a new assembly and adjustment system and scheme is urgently needed.

[0004] The conventional multi-aperture optical axis calibration technology is mainly aimed at optical systems with fixed optical axes. A large-aperture collimator is used to calibrate to the same mark point through reflection, so as to realize the calibration consistency of the optical axes of each sensor. This calibration method is simple, easy to operate and has high precision, but it cannot eliminate the relative rotation between the optical axes of each laser sensor, fast mirror and imaging sensor, and it is difficult to calibrate the multi-aperture photoelectric system with large angle changes in the optical axis. SUMMARY

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

[0006] ​In one aspect, a light axis debugging system of a multi-directional optoelectronic device with a fast mirror is provided, the multi-directional optoelectronic device with the fast mirror comprising: a large field of view optoelectronic sensor, a mounting surface of the large field of view optoelectronic sensor being parallel to an optical axis of the large field of view optoelectronic sensor; a multi-channel laser sensor, the multi-channel laser sensor comprising a housing, the housing having a first mounting surface and a second mounting surface vertically arranged and parallel to each other, the first mounting surface being vertically arranged with two laser emitters, an outgoing light direction of the laser emitters being away from the first mounting surface; and an optical bench, the optical bench comprising a bottom plate, a sensor mounting plate being vertically arranged on an upper surface of the bottom plate; a first side surface of the sensor mounting plate being used to mount the multi-channel laser sensor through the first mounting surface, a second side surface being provided with a mirror mounting plate being perpendicular to the bottom plate, and an included angle between the mirror mounting plate and the sensor mounting plate being 45°, the sensor mounting plate having two vertically arranged light passing holes from top to bottom, the two light passing holes corresponding to the two laser emitters, the mirror mounting plate being vertically arranged with two fast mirrors from top to bottom on a side facing the sensor mounting plate; the optical bench having a first reference surface and a second reference surface; the first reference surface being the second side surface of the sensor mounting plate, the first reference surface being provided with a first plane mirror; the second reference surface being a side surface of the optical bench being perpendicular to the bottom plate and the sensor mounting plate at the same time and being closer to the light passing holes.

[0007] The light axis debugging system comprises: a first optical platform, the first optical platform being provided with a first optical adjustment platform, a theodolite and a third optical adjustment platform along a first direction; wherein the first optical adjustment platform is provided with a precision turntable, the multi-directional 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 at a side of the first optical platform, the second optical platform is provided with a second optical adjustment platform, a large-aperture parabolic mirror facing the multi-directional optoelectronic device is arranged on the second optical adjustment platform, and the large-aperture parabolic mirror has a third reference surface being perpendicular to an optical axis of the large-aperture parabolic mirror; wherein when the optical axis of the theodolite is parallel to the first direction, the multi-directional optoelectronic device is rotated to a first reference surface being perpendicular to the optical axis of the theodolite, and the theodolite is perpendicular to the first reference surface; when the theodolite is turned to the large-aperture parabolic mirror, the theodolite is perpendicular to the third reference surface;

[0008] A high-precision level gauge; further comprising a square tube front mirror, a filter and a laser target paper.

[0009] In another aspect, a light axis debugging method of a multi-directional optoelectronic device with a fast mirror is provided, the debugging method being based on the light axis debugging system of the multi-directional optoelectronic device with the fast mirror, and the debugging method comprising the following steps:

[0010] Step 1, fix the precision turntable on the first optical platform, keep the table surface of the precision turntable horizontal;

[0011] Step 2, fix the theodolite on the first optical platform, keep the base of the theodolite horizontal, and adjust the angle of the optical axis of the theodolite to 90°;

[0012] Step 3, first time adjust the large aperture parabolic mirror, make the multi-channel laser sensor and the laser receiver form an assembly loop;

[0013] Step 4, adjust the optical bench, make the first reference surface perpendicular to the horizontal surface;

[0014] Step 5, second time adjust the large aperture parabolic mirror, make the large aperture parabolic mirror perpendicular to the horizontal surface;

[0015] Step 6, install and adjust the multi-channel laser sensor, make the outgoing light of the multi-channel laser sensor parallel to the horizontal surface;

[0016] Step 7, adjust the precision turntable by using the square tube front mirror, make the outgoing light of the multi-channel laser sensor converge on the laser target paper after passing through the large aperture parabolic mirror;

[0017] Step 8, install, adjust and fix the large field of view photoelectric sensor;

[0018] Step 9, install and adjust the upper fast mirror, make the first outgoing light of the multi-channel laser sensor and the imaging sensor of the large field of view photoelectric sensor zero, consistent in optical axis direction, and parallel in coordinate system axes;

[0019] Step 10, repeat step 9, install and adjust the lower fast mirror, make the second outgoing light of the multi-channel laser sensor and the imaging sensor of the large field of view photoelectric sensor zero, consistent in optical axis direction, and parallel in coordinate system axes.

[0020] Optionally, in step 3, the first time adjusting the large aperture parabolic mirror comprises: adjusting the table surface of the second optical adjustment platform to be horizontal by using a high-precision level, adjusting the large aperture parabolic mirror by using the theodolite and the precision, and adjusting the second optical adjustment platform to make the reference surface of the large aperture parabolic mirror perpendicular to the theodolite; fixing the laser receiver on the third optical adjustment platform, and placing the laser receiver in the assembly optical path; placing the high-precision level on the third optical adjustment platform, adjusting the level by using the high-precision level, and placing the filter between the laser receiver and the large aperture parabolic mirror; the laser target paper can be attached to the front surface of the laser receiver; the whole 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 attitude of the optical bench is adjusted so that the outgoing light of the theodolite is reflected by the first planar mirror of the first reference surface, and the light returns to the theodolite to form a self-collimation image, thereby ensuring that the first side of the sensor mounting plate is perpendicular to the horizontal plane.

[0022] Optionally, in step 5, the large-aperture parabolic mirror is placed on the second optical adjustment platform and is placed in the assembled optical path as a whole; a high-precision level is placed on the second optical adjustment platform, and the second optical adjustment platform is adjusted to be horizontal by calibrating in the orthogonal direction through the high-precision level; the theodolite is rotated horizontally and the large-aperture parabolic mirror is finely adjusted, and the second optical adjustment platform is finely adjusted, so that the reference surface of the large-aperture parabolic mirror is perpendicular to the theodolite, thereby ensuring that the large-aperture parabolic mirror is perpendicular to the horizontal plane.

[0023] Optionally, in step 6, the theodolite is rotated to return to the initial state parallel to the first direction, the multi-channel laser sensor is preliminarily fixed to the optical bench, the attitude of the multi-channel laser sensor is adjusted so that the theodolite can form a self-collimation image through the third reference surface, the multi-channel laser sensor is locked to the optical bench, and the outgoing 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 be close to the second reference surface of the optical bench, the precision turntable is rotated until the square tube front mirror observes the laser target paper, and when the cross center of the square tube front mirror is observed to be located near the center position of the laser receiver, the rotation of the precision turntable is stopped; the outgoing light of the multi-channel laser sensor is converged by the large-aperture parabolic mirror to produce a damage spot on the laser target paper.

[0025] Optionally, in step 8, the installation and debugging of the large field of view photoelectric sensor includes: initially fixing the large field of view photoelectric sensor on 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 mirror, adjusting the mounting attitude of the large field of view photoelectric sensor, so that the large field of view photoelectric sensor images the damage spot, the damage spot image point is located near the center of the field of view, locking the large field of view photoelectric sensor on the multi-channel laser sensor, and recording the position θ1 of the precision turntable at this time; at this position, the large field of view photoelectric sensor is accurately adjusted, the large field of view photoelectric sensor continuously images the damage spot on the laser target paper, the electric "+" sign generated by the imaging sensor of the large field of view photoelectric sensor is set, the electric "+" sign is located at the center position of the image, the pitch and azimuth positions of the imaging sensor of the large field of view photoelectric sensor are adjusted, so that the damage spot of the imaging image is located at the pitch and azimuth positions of the electric "+" sign; the precision turntable is rotated, the rotation of the detector on the large field of view photoelectric sensor is adjusted according to the height position change of the damage spot imaging of the large field of view photoelectric sensor, so that the damage spot moves along the horizontal direction of the pixel coordinate system on the detector as much as possible, and the number of rows Pixl1 of the damage spot imaging on the detector of the large field of view photoelectric sensor at this time is recorded, the electric "+" sign is adjusted to X_Pixl rows, and the imaging sensor of the large field of view photoelectric sensor is fixed and locked; the precision turntable is adjusted back to the θ1 position, the left and right columns of the electric "+" sign of the large field of view photoelectric sensor are adjusted, so that the electric "+" sign is located at the center of the damage spot, and Y_Pixl columns are recorded.

[0026] Optionally, in step 9, the installation and debugging of the fast mirror includes: installing the fast mirror on the first path of the multi-channel laser sensor, resetting the fast mirror to the initial zero position after the fast mirror is powered on, the initial zero position is generally half of the movement range in two orthogonal directions, the azimuth and pitch of the fast mirror are adjusted as a whole, so that the damage spot generated by the first path of the multi-channel laser sensor after converging through the fast mirror and the large aperture parabolic mirror is located at the center position of the imaging electric "+" sign of the large field of view photoelectric sensor; the laser target paper is removed, and a filter is added to the optical path to weaken the laser energy, so that the first path of the multi-channel laser sensor after converging through the fast mirror and the large aperture parabolic mirror and weakening through the filter can be received by the laser receiver; the rotation of the normal line of the fast mirror is adjusted, and the angle of the fast mirror is adjusted along the horizontal direction in one dimension, the precision turntable is adjusted in reverse at 2 times the step angle, the first path of the laser is emitted at the same time, the laser is received by the laser receiver, the height change of the light spot is analyzed, the rotation amount of the fast mirror is adjusted according to the height change, until the up and down offset of the laser converging spot received by the laser receiver is minimized; the fast mirror is adjusted to return to the initial zero position, the laser target paper is used to receive the laser light spot, the electric adjustment of the fast mirror is used to make the laser converging spot on the laser target paper located at the center position of the damage spot of the large field of view photoelectric sensor, at this time, the pitch and azimuth values of the fast mirror are set as the final zero position.

[0027] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0028] The optical axis debugging system of the multi-directional photoelectric device with a fast mirror comprises a first optical platform, a second optical platform, a high-precision level, a square tube pre-mirror, a filter, and a light target paper. The optical axis debugging system of the multi-directional photoelectric device with a fast mirror provided by 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; the precise angle adjustment amount provided by the precision turntable can be used to reversely compensate the deflection angle of the large-angle laser exit beam, so as to solve the problem that the parabolic mirror with a limited aperture cannot converge the large-angle deflected laser; the preliminary adjustment of each assembly and adjustment device is realized through the square tube pre-mirror, the precise adjustment of each assembly and adjustment device is realized through the theodolite, and the relative position of the laser damage spot can be obtained through the laser receiver, so that the horizontal and vertical position changes of the laser damage spot can be accurately analyzed, and the precision and convenience of the optical axis debugging system are improved.

[0029] Through the above assembly and adjustment method, the zero pointing of the laser beam of the multi-channel laser sensor and the optical axis of the large field of view light detection photoelectric sensor can be accurately controlled, and the coordinate system of the laser beam pointing of the multi-channel laser sensor and the coordinate system of the large field of view photoelectric sensor are parallel.

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

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0032] Figure 1 is a three-dimensional schematic view of the multi-directional photoelectric device provided by the embodiments of the present application;

[0033] Figure 2 is Figure 1 is an exploded schematic view of the multi-directional photoelectric device in

[0034] Figure 3 is a three-dimensional schematic view of the optical bench provided by the embodiments of the present application;

[0035] Figure 4 is a three-dimensional schematic view of the optical axis debugging system of the multi-directional photoelectric device with a fast mirror provided by the embodiments of the present application;

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

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

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

[0039] Figure 8 is a schematic diagram of light direction adjustment method of a multi-channel laser sensor provided by an embodiment of the present application;

[0040] Figure 9 is a schematic diagram of installation and debugging of a large-view-field photoelectric sensor provided by an embodiment of the present application;

[0041] Figure 10 is a schematic diagram of installation and debugging method of a fast mirror provided by an embodiment of the present application.

[0042] Legend of reference signs:

[0043] 1-optical bench; 101-bottom plate; 102-sensor mounting plate; 103-mirror mounting plate; 104-light passing hole; 2-multi-channel laser sensor; 201-housing; 2011-first mounting surface; 2012-second mounting surface; 3-large-view-field photoelectric sensor; 4-fast mirror; 6-precision turntable; 7-large-aperture parabolic mirror; 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 embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0045] In the present disclosure, the orientation words such as "up, down" used herein generally refer to the "up, down" of the corresponding components in the use state in the direction of gravity, and "inner, outer" refers to the "inner, outer" relative to the outline of the corresponding component itself. In addition, the terms "first", "second", etc. used in the present disclosure are used to distinguish one element from another element, and do not have sequentiality and importance. In the following description, when referring to the drawings, the same reference signs in different drawings represent the same or similar elements, unless otherwise explained.

[0046] Please refer to Figure 1 and Figure 2 The multi-directional photoelectric device with fast mirrors 4 comprises:

[0047] A large field of view photoelectric sensor 3, 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] A multi-channel laser sensor 2, the multi-channel laser sensor 2 comprises a housing 201, the housing has a first mounting surface 2011 and a second mounting surface 2012 which are vertically arranged and parallel to each other, the first mounting surface 2011 is vertically arranged with two laser emitters, and the light emitting direction of the laser emitters is away from the first mounting surface 2011; and an optical bench 1, please refer to Figure 2 and Figure 3 The optical bench 1 comprises a bottom plate 101, a sensor mounting plate 102 which is vertically arranged on the upper surface of the bottom plate 101; the first side surface of the sensor mounting plate 102 is used for mounting the laser emitters through the first mounting surface 2011, the second side surface is provided with a mirror mounting plate 103 which is perpendicular to the bottom plate 101, and the included angle between the mirror mounting plate 103 and the sensor mounting plate 102 is 45°, the sensor mounting plate 102 has two light passing holes 104 which are vertically arranged from top to bottom, the two light passing holes 104 correspond to the two laser emitters, and two fast mirrors 4 are vertically arranged from top to bottom on the side of the mirror mounting plate 103 which faces 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 which is perpendicular to the bottom plate 101 and the sensor mounting plate 102 at the same time and is closer to the light passing holes 104.

[0049] According to the first aspect of the present application, please refer to Figure 4, provide a kind of optical axis debugging system of multi-directional photoelectric equipment with fast mirror, and the optical axis debugging system includes: first optical platform 17, first optical platform 17 is provided with first optical adjustment platform 14, theodolite 9 and third optical adjustment platform 16 along the first direction on it;Wherein, first optical adjustment platform 14 is provided with precision turntable 6, and multi-directional photoelectric equipment is arranged on precision turntable 6, and laser receiver 12 is arranged on third optical adjustment platform 16;Second optical platform 18, located in the side of first optical platform 17, second optical platform 18 is provided with second optical adjustment platform 15, and large-aperture parabolic mirror 7 towards multi-directional photoelectric equipment is arranged on second optical adjustment platform 15, and large-aperture parabolic mirror 7 has third reference surface S3 perpendicular to the optical axis of large-aperture parabolic mirror 7;Wherein, when the optical axis of theodolite 9 is parallel to the first direction, multi-directional photoelectric equipment is rotated to first reference surface S1 vertical to the optical axis of theodolite 9, and theodolite 9 is perpendicular to first reference surface S1;When theodolite 9 is turned to large-aperture parabolic mirror 7, theodolite 9 is perpendicular to third reference surface S3;Further comprising high-precision level 8, high-precision level 8 can be used to calibrate first optical adjustment platform 14, second optical adjustment platform 15, third optical adjustment platform 16, first optical platform 17 and second optical platform 18;Square tube front lens 10 can be used to coarsely adjust the rotation angle of precision turntable 6;Optical filter 11, optical filter 11 is installed between laser receiver 12 and large-aperture parabolic mirror 7, and is used to weaken the energy of laser beam, to prevent laser receiver from being damaged;And, laser target paper 13, laser target paper 13 is used to form damage spot A in the debugging process, so that the large field photoelectric sensor 3 is debugged according to damage spot A.

[0050] In the above embodiment, based on the optical axis debugging system of multi-directional photoelectric equipment with fast mirror described above, the optical axis debugging method of multi-directional photoelectric equipment with fast mirror includes the following steps:

[0051] Step 1, fix precision turntable 6 on first optical platform 17, so that the table surface of precision turntable 6 remains horizontal;

[0052] Step 2, fix theodolite 9 on first optical platform 17, so that the base of theodolite 9 remains horizontal, and the optical axis of theodolite 9 is adjusted to 90° in pitch angle;

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

[0054] In step 4, the optical bench 1 is debugged to make the first reference surface S1 vertical 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 attitude of the optical bench 1 is adjusted so that the outgoing light of the theodolite 9 is reflected by the first plane mirror on the first reference surface S1, and the light returns to the self-collimation image formed in the theodolite 9. In this way, the first side surface of the sensor mounting plate 102 can be ensured to be vertical to the horizontal plane.

[0055] In step 5, the large aperture parabolic mirror 7 is debugged for the second time to make the large aperture parabolic mirror 7 vertical to the horizontal plane. For details, please refer to Figure 6 In step 5, the large aperture parabolic mirror 7 is placed on the second optical adjustment platform 15, and is placed in the assembly optical path as a whole. The high-precision level 8 is placed on the second optical adjustment platform 15, and is calibrated in the orthogonal direction by the high-precision level 8. The second optical adjustment platform 15 is adjusted to be horizontal. The large aperture parabolic mirror 7 and the second optical adjustment platform 15 are adjusted by the theodolite 9, and the large aperture parabolic mirror 7 and the second optical adjustment platform 15 are adjusted to be vertical to the theodolite 9, so as to ensure that the large aperture parabolic mirror 7 is vertical to the horizontal plane.

[0056] In step 6, the multi-channel laser sensor 2 is installed and debugged to make the outgoing light of the multi-channel laser sensor 2 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, i.e. 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 preliminarily 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-collimation image through the third reference surface S3, and the multi-channel laser sensor 2 is locked to the optical bench 1, so as to achieve the purpose of adjusting the outgoing light of the multi-channel laser sensor 2 to be parallel to the horizontal plane.

[0057] In step 7, the square tube front mirror 10 is used to adjust the precision turntable 6, so that the outgoing light of the multi-channel laser sensor 2 converges through the large-aperture parabolic mirror 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 be close to the second reference surface S2 of the optical bench 1, the precision turntable 6 is rotated until the square tube front mirror 10 observes the laser target paper 13, and when the cross center of the square tube front mirror 10 is observed to be located near the center position of the laser receiver 12, the rotation of the precision turntable 6 is stopped; the outgoing light of the multi-channel laser sensor 2 converges through the large-aperture parabolic mirror 7 to produce a damage spot A on the laser target paper 13.

[0058] In step 8, the large-field photoelectric sensor 3 is installed, adjusted and fixed; for details, please refer to Figure 9, step 8, installing and debugging the large field of view photoelectric sensor 3 includes: initially fixing the large field of view photoelectric sensor 3 to 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 mirror 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, 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, the large field of view photoelectric sensor 3 is accurately adjusted, the large field of view photoelectric sensor 3 continuously images the damage spot A on the laser target paper 13, the electric "+" sign mark of the imaging sensor of the large field of view photoelectric sensor 3 is set, the electric "+" sign mark is located at the center position of the image, the pitch and azimuth positions of the imaging sensor of the large field of view photoelectric sensor 3 are adjusted, so that the damage spot A of the imaging image is located at the pitch and azimuth positions of the electric "+" sign mark; the precision turntable 6 is rotated, the damage spot A imaging height position change of the large field of view photoelectric sensor 3 is adjusted, the detector on the large field of view photoelectric sensor 3 rotates around its optical axis, so that the damage spot A moves along the horizontal direction of the pixel coordinate system on the detector as much as possible, the imaging horizontal direction of the detector is guaranteed to be parallel to the horizontal direction of the theodolite, and the number of rows Pixl1 of the damage spot A imaging on the detector of the large field of view photoelectric sensor 3 at this time is recorded, the electric "+" sign mark is adjusted to X_Pixl rows, the imaging sensor of the large field of view photoelectric sensor 3 is fixed and locked, and thus the horizontal direction and 0-bit height position adjustment of the large field of view photoelectric sensor 3 is completed; the precision turntable 6 is adjusted back to the θ1 position, the left and right column numbers of the electric "+" sign mark of the large field of view photoelectric sensor 3 are adjusted, so that the electric "+" sign mark is located at the center of the damage spot A, and Y_Pixl columns are recorded; thus, the 0-bit azimuth position adjustment of the large field of view photoelectric sensor 3 is completed.

[0059] Step 9, installing and debugging the upper fast mirror 4, so that the zero position of the first exit light of the multi-channel laser sensor 2 and the imaging sensor of the large field of view photoelectric sensor 3 are unified, the optical axes are consistent, and the axes of the coordinate systems are parallel; specifically, in step 9, referring to Figure 10, the installation and debugging of the upper fast mirror 4 includes: installing the fast mirror 4 on the first light path of the multi-channel laser sensor 2, resetting the fast mirror 4 to the initial zero position after the fast mirror 4 is powered on, the initial zero position is generally half of the movement range in two orthogonal directions, the azimuth and the pitch of the fast mirror 4 are adjusted as a whole, the first light of the multi-channel laser sensor 2 passes through the fast mirror 4 and the large-aperture parabolic mirror 7, and then converges on the laser target paper 13 to generate a damage spot A located at the center of the imaging electric "+" of the large-field optical sensor 3; the laser target paper 13 is removed, and the optical filter 11 is added to the light path to weaken the laser energy, so that the first light of the multi-channel laser sensor 2 passes through the fast mirror 4, the large-aperture parabolic mirror 7, and then converges and is weakened through the optical filter 11, and can be received by the laser receiver 12; the rotation of the normal line of the fast mirror 4 is adjusted, and the angle of the fast mirror 4 is adjusted in one dimension along the horizontal direction, the precision turntable 6 is reversely adjusted at a step angle of 2 times, the first laser is emitted, the laser is received by the laser receiver 12, the height change of the light spot is analyzed, the rotation amount of the fast mirror 4 is adjusted according to the height change, and the up-down offset of the laser converging spot received by the laser receiver 12 is reduced to the minimum; at this time, the horizontal direction of the fast mirror is parallel to the horizontal direction of the theodolite; the fast mirror 4 is adjusted to return to the initial zero position, the laser spot is received by the laser target paper 13, the laser converging damage spot A on the laser target paper 13 is located at the center of the imaging electric "+" of the large-field optical sensor 3, and the pitch and azimuth values of the fast mirror 4 are set as the final zero position.

[0060] Step 10, repeat step 9, install and debug the lower fast mirror 4, so that the second light of the multi-channel laser sensor 2 and the imaging sensor zero position of the large-field optical sensor 3 are unified, the optical axes are consistent, and the axes of the coordinate systems are parallel.

[0061] The optical axis debugging system of the multi-directional photoelectric equipment with a fast mirror provided by the embodiment of the application can provide a horizontal reference plane through the first optical adjustment platform, the second optical adjustment platform and the third optical adjustment platform; accurate angle adjustment can be provided through the precision turntable to reversely compensate the deflection angle of the large-angle laser light beam, so that the problem that the parabolic mirror with a limited aperture cannot converge the large-angle deflected laser light is solved; the preliminary adjustment of each installation and adjustment equipment can be realized through the square tube front mirror, the accurate adjustment of each installation and adjustment equipment can be realized through the theodolite, and the relative position of the laser damage spot can be obtained through the laser receiver, so that the transverse and longitudinal position changes of the laser damage spot can be accurately analyzed, and the accuracy and the simplicity of the optical axis debugging system are improved.

[0062] By the above mounting method, the zero pointing of the laser beams of the multi-channel laser sensor and the optical axis of the large field photoelectric sensor can be accurately controlled to be parallel, and the coordinate system of the laser beams of the multi-channel laser sensor and the coordinate system of the large field photoelectric sensor can be parallel.

[0063] It should be noted that the two fast mirrors 4 arranged in the up-down direction are used to illustrate the principle of the present application, and it is needless to say that three, four or more fast mirrors 4 arranged in the vertical direction can also be used, and the present application does not limit this.

[0064] According to another aspect of the present application, a light axis debugging method of a multi-direction photoelectric device with fast mirrors is provided, which is based on the light axis debugging system of the multi-direction photoelectric device with fast mirrors, and the debugging method comprises the following steps:

[0065] Step 1, fixing the precision turntable 6 on the first optical platform 17 so that the table surface of the precision turntable 6 is kept horizontal;

[0066] Step 2, fixing the theodolite 9 on the first optical platform 17 so that the base of the theodolite 9 is kept horizontal, and the optical axis of the theodolite 9 is adjusted to 90° in the pitch direction;

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

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

[0069] Step 5, second debugging the large-aperture parabolic mirror 7 so that the large-aperture parabolic mirror 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, adjusting the precision turntable 6 by using the square tube front mirror 10 so that the outgoing light of the multi-channel laser sensor 2 converges on the laser target paper 13 after passing through the large-aperture parabolic mirror 7 to form a damage spot A;

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

[0073] Step 9, installing and debugging the upper fast mirror 4 so that the zero of the first outgoing light of the multi-channel laser sensor 2 and the imaging sensor of the large field photoelectric sensor 3 are unified, the optical axes are consistent, and the coordinate systems are parallel;

[0074] Step 10, repeat step 9, install and debug the lower fast mirror 4, so that the second path of the multi-channel laser sensor 2 and the imaging sensor of the large field of view photoelectric sensor 3 are zeroed, the optical axes are consistent, and the axes of the coordinate systems are parallel.

[0075] Optionally, refer to Figure 1 In step 3, the first time of debugging the large-aperture parabolic mirror 7 includes: adjusting the horizontal surface of the second optical adjustment platform 15 to be horizontal through the high-precision level 8, adjusting the large-aperture parabolic mirror 7 through the theodolite 9 and the fine adjustment of the second optical adjustment platform 15, and adjusting the large-aperture parabolic mirror 7 to be perpendicular to the theodolite 9. The laser receiver 12 is fixed on the third optical adjustment platform 16, and the whole is placed in the assembled optical path; the high-precision level 8 is placed on the third optical adjustment platform 16, and the level is adjusted through 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 mirror 7. The laser target paper 13 can be attached to the front surface of the laser receiver 12. The whole optical path is arranged on the first optical platform 17 and the second optical platform 18 to ensure the stability of the system.

[0076] Optionally, refer to Figures 3 to 5 In step 4, the optical bench 1 is placed on the precision turntable 6, and the attitude of the optical bench 1 is adjusted so that the outgoing light of the theodolite 9 is reflected by the first mirror on the first reference surface S1, and the light returns to the theodolite 9 to form a self-collimation image. This can ensure that the first side surface of the sensor mounting plate 102 is perpendicular to the horizontal surface.

[0077] Optionally, refer to Figure 6 In step 5, the large-aperture parabolic mirror 7 is placed on the second optical adjustment platform 15, and the whole is placed in the assembled optical path; the high-precision level 8 is placed on the second optical adjustment platform 15, and the second optical adjustment platform 15 is adjusted to be horizontal through the high-precision level 8 in the orthogonal direction; the theodolite 9 is rotated horizontally and the large-aperture parabolic mirror 7 is fine-adjusted, and the second optical adjustment platform 15 is fine-adjusted, so that the reference surface of the large-aperture parabolic mirror 7 is perpendicular to the theodolite 9, thereby ensuring that the large-aperture parabolic mirror 7 is perpendicular to the horizontal surface.

[0078] Optionally, refer to Figure 7In step 6, the theodolite 9 is rotated to return to the initial state parallel to the first direction, i.e. 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 preliminarily 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-collimation image through the third reference surface S3, and the multi-channel laser sensor 2 is locked to the optical bench 1, so as to achieve the purpose of adjusting the outgoing light of the multi-channel laser sensor 2 to be parallel to the horizontal plane.

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

[0080] Optionally, refer to Figure 9In step 8, the installation and adjustment of the large field of view photoelectric sensor 3 includes: initially fixing the large field of view photoelectric sensor 3 to 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 mirror 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, 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, the large field of view photoelectric sensor 3 is accurately adjusted, the large field of view photoelectric sensor 3 continuously images the damage spot A on the laser target paper 13, the electric "+" sign mark of the imaging sensor of the large field of view photoelectric sensor 3 is set, the electric "+" sign mark is located at the center position of the image, the pitch and azimuth positions of the imaging sensor of the large field of view photoelectric sensor 3 are adjusted, so that the damage spot A of the imaging image is located at the pitch and azimuth positions of the electric "+" sign mark; the precision turntable 6 is rotated, the damage spot A imaging height position change of the large field of view photoelectric sensor 3 is adjusted, the detector on the large field of view photoelectric sensor 3 rotates around its optical axis, so that the damage spot A moves along the horizontal direction of the pixel coordinate system on the detector as much as possible, the imaging horizontal direction of the detector is ensured to be parallel to the horizontal direction of the theodolite, and the number of rows Pixl1 of the damage spot A imaging on the detector of the large field of view photoelectric sensor 3 at this time is recorded, the electric "+" sign mark is adjusted to X_Pixl rows, the imaging sensor of the large field of view photoelectric sensor 3 is fixed and locked, and thus the horizontal direction and 0-bit height position adjustment of the large field of view photoelectric sensor 3 is completed; the precision turntable 6 is adjusted back to the θ1 position, the left and right column numbers of the electric "+" sign mark of the large field of view photoelectric sensor 3 are adjusted, so that the electric "+" sign mark is located at the center of the damage spot A, and Y_Pixl columns are recorded; thus, the 0-bit azimuth position adjustment of the large field of view photoelectric sensor 3 is completed.

[0081] Optionally, in step 9, the reference Figure 10, install and debug the upper fast mirror 4, including: installing the fast mirror 4 on the first light path of the multi-channel laser sensor 2, resetting the fast mirror 4 to the initial zero position after power-on, the initial zero position is generally half of the movement range in two orthogonal directions, adjusting the azimuth and pitch of the fast mirror 4 as a whole, so that the first light path of the multi-channel laser sensor 2 converges through the fast mirror 4 and the large-aperture parabolic mirror 7, and the damage spot A on the laser target paper 13 is located at the center of the imaging electric "+" of the large field of view photoelectric sensor 3; remove the laser target paper 13, and add a filter 11 in the light path to weaken the laser energy, so that the first light path of the multi-channel laser sensor 2 converges through the fast mirror 4 and the large-aperture parabolic mirror 7, and the weakened light can be received by the laser receiver 12 through the filter 11; adjust the rotation of the normal line of the fast mirror 4, and adjust the angle of the fast mirror 4 in one dimension along the horizontal direction, adjust the precision turntable 6 in the reverse direction with a step angle of 2 times, and emit the first laser at the same time, receive the laser by the laser receiver 12, analyze the height change of the light spot, adjust the rotation amount of the fast mirror 4 according to the height change, and reduce the up-down offset of the laser convergence spot received by the laser receiver 12 to the minimum; at this time, the horizontal direction of the fast mirror is parallel to the horizontal direction of the theodolite; adjust the fast mirror 4 to return to the initial zero position, receive the laser spot by the laser target paper 13, and adjust the fast mirror 4 by the electric adjustment to make the damage spot A on the laser target paper 13 located at the center of the imaging electric "+" of the large field of view photoelectric sensor 3, at this time, the pitch and azimuth values of the fast mirror 4 are set as the final zero position.

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

[0083] Through the above installation and adjustment method, the zero pointing direction 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 coordinate system of the laser beam pointing direction of the multi-channel laser sensor is parallel to the coordinate system of the large field of view photoelectric sensor 3.

[0084] It should be noted that the above two fast mirrors 4 are arranged in the up-down direction to illustrate the principle of the present application, and it is needless to say that three, four or even more fast mirrors 4 can 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 combination with the drawings, but the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications can be made to the technical solutions of the present disclosure within the technical concept of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0086] It should also be noted that various technical features described in the above detailed description are capable of being combined in any suitable manner unless otherwise explicitly stated. To avoid unnecessary repetition, various possible combinations of features are not all explicitly described in the present disclosure.

[0087] Furthermore, various embodiments of the present disclosure can be combined in any suitable manner, as long as it does not contradict the idea of the present disclosure, and it should be considered as disclosed in the present disclosure.

Claims

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

2. A method of optical axis adjustment of a multi-directional optoelectronic device with a fast mirror, characterized in that, The optical axis debugging system of the multi-directional optoelectronic device with fast mirror based on claim 1, the debugging method comprises the following steps: Step 1, fix the precision turntable (6) on the first optical platform (17), keep the table surface of the precision turntable (6) horizontal; Step 2, fix the theodolite (9) on the first optical platform (17), keep the base of the theodolite (9) horizontal, and adjust the optical axis of the theodolite (9) to 90°; Step 3, first debug the large-aperture parabolic mirror (7), and make the multi-channel laser sensor (2) and the laser receiver (12) form an assembly loop; Step 4, debug the optical bench (1), and make the first reference surface (S1) perpendicular to the horizontal plane; Step 5, second debug the large-aperture parabolic mirror (7), and make the large-aperture parabolic mirror (7) perpendicular to the horizontal plane; Step 6, install and debug the multi-channel laser sensor (2), and make the outgoing light of the multi-channel laser sensor (2) parallel to the horizontal plane; Step 7, adjust the precision turntable (6) by using the square tube pre-mirror (10), so that the outgoing light of the multi-channel laser sensor (2) converges on the laser target paper (13) after passing through the large-aperture parabolic mirror (7) to generate a damage spot (A); Step 8, install, debug and fix the large-field optoelectronic sensor (3); Step 9, install and debug the upper fast mirror (4), so that the first outgoing light of the multi-channel laser sensor (2) and the imaging sensor of the large-field optoelectronic sensor (3) are unified in zero position, the optical axes are consistent, and the axes of the coordinate systems are parallel; Step 10, repeat step 9, install and debug the lower fast mirror (4), so that the second outgoing light of the multi-channel laser sensor (2) and the imaging sensor of the large-field optoelectronic sensor (3) are unified in zero position, the optical axes are consistent, and the axes of the coordinate systems are parallel.

3. The optical axis adjustment method of a multi-directional optoelectronic device with a fast mirror according to claim 2, characterized in that, In step 3, the first debug of the large-aperture parabolic mirror (7) comprises: adjusting the table surface of the second optical adjustment platform (15) to be horizontal by using the high-precision level (8), adjusting the large-aperture parabolic mirror (7) by using the theodolite (9), and finely adjusting the second optical adjustment platform (15), so that the reference surface of the large-aperture parabolic mirror (7) is perpendicular 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 adjusted by the high-precision level (8), and the filter (11) is placed between the laser receiver (12) and the large-aperture parabolic mirror (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).

4. The optical axis adjustment method of a multi-directional optoelectronic device with a fast mirror according to claim 2, wherein, In step 4, the optical bench (1) is placed on the precision turntable (6), and the attitude of the optical bench (1) is adjusted so that the outgoing light of the theodolite (9) is reflected by the first plane mirror on the first reference surface (S1), the light returns to the theodolite (9) to form a self-collimation image, and the first side of the sensor mounting plate (102) is perpendicular to the horizontal plane.

5. The optical axis adjustment method of a multi-directional optoelectronic device with a fast mirror according to claim 2, wherein, In step 5, the large-aperture parabolic mirror (7) is placed on the second optical adjustment platform (15) and placed in the assembly optical path as a whole; the high-precision level (8) is placed on the second optical adjustment platform (15) and calibrated in the orthogonal direction by the high-precision level (8), 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 mirror (7) is adjusted slightly, and the second optical adjustment platform (15) is adjusted slightly, so that the reference surface of the large-aperture parabolic mirror (7) is perpendicular to the theodolite (9), thereby ensuring that the large-aperture parabolic mirror (7) is perpendicular to the horizontal plane.

6. The optical axis adjustment method of a multi-directional optoelectronic device with a fast mirror according to claim 2, wherein, In step 6, the theodolite (9) is rotated to return to the initial state parallel to the first direction, the multi-channel laser sensor (2) is preliminarily fixed on the optical bench (1), the installation attitude of the multi-channel laser sensor (2) is adjusted, the theodolite (9) can form a self-collimation image through the third reference surface (S3), the multi-channel laser sensor (2) is locked on the optical bench (1), and the outgoing light of the multi-channel laser sensor (2) is adjusted to be parallel to the horizontal plane.

7. The optical axis adjustment method of a multi-directional optoelectronic device with a fast mirror according to claim 2, wherein, In step 7, the square tube front mirror (10) is adjusted to be close to the second reference surface (S2) of the optical bench (1), the precision turntable (6) is rotated until the square tube front mirror (10) observes the laser target paper (13), and when the cross center of the square tube front mirror (10) is observed to be near the center position of the laser receiver (12), the rotation of the precision turntable (6) is stopped; the laser outgoing light of the multi-channel laser sensor (2) is converged through the large-aperture parabolic mirror (7) and produces a damage spot (A) on the laser target paper (13).

8. The optical axis adjustment method of a multi-directional optoelectronic device with a fast mirror according to claim 2, wherein, In step 8, the installation and debugging of the large field of view photoelectric sensor (3) includes: initially 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 mirror (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), 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) on the multi-channel laser sensor (2), and recording the position θ1 of the precision turntable (6) at this time; at this position, the large field of view photoelectric sensor (3) is accurately adjusted, the large field of view photoelectric sensor (3) continuously images the damage spot (A) on the laser target paper (13), the "+” electric word mark of the image generated by the imaging sensor of the large field of view photoelectric sensor (3) is set, the "+” electric word mark is located at the center position of the image, the pitch and azimuth positions of the imaging sensor of the large field of view photoelectric sensor (3) are adjusted, so that the damage spot (A) of the imaging image is located at the pitch and azimuth positions of the "+” electric word mark; the precision turntable (6) is rotated, the rotation of the detector on the large field of view photoelectric sensor (3) is adjusted according to the height position change of the damage spot (A) imaged by the large field of view photoelectric sensor (3), so that the damage spot (A) moves along the horizontal direction of the pixel coordinate system on the detector as much as possible, and the row number Pixl1 of the damage spot (A) imaged on the detector of the large field of view photoelectric sensor (3) is recorded. Adjust the "+” electric word mark to X_Pixl row, and fix and lock the imaging sensor of the large field of view photoelectric sensor (3); the precision turntable (6) is adjusted back to the θ1 position, the left and right column numbers of the "+” electric word mark of the large field of view photoelectric sensor (3) are adjusted, so that the "+” electric word mark is located at the center of the damage spot (A), and Y_Pixl column is recorded.

9. The optical axis adjustment method of a multi-directional optoelectronic device with a fast mirror according to claim 2, wherein, In step 9, the installation and debugging of the fast steering mirror (4) includes: installing the fast steering mirror (4) on the first path of the multi-channel laser sensor (2) laser light path, and resetting the fast steering mirror (4) to the initial zero position after power-on. The initial zero position is generally half of the movement range in two orthogonal directions. The azimuth and pitch of the fast steering mirror (4) are adjusted as a whole, so that the first path of the multi-channel laser sensor (2) light passes through the fast steering mirror (4) and the large-aperture parabolic mirror (7), and then converges on the laser target paper (13) to generate a damage spot (A) located at the center of the large field of view photoelectric sensor (3) imaging electric "+". Remove the laser target paper (13) and add a filter (11) to the light path to weaken the laser energy, so that the first path of the multi-channel laser sensor (2) light passes through the fast steering mirror (4) and the large-aperture parabolic mirror (7), converges, and is weakened by the filter (11) and can be received by the laser receiver (12). Adjust the rotation of the normal line of the fast steering mirror (4), and adjust the angle of the fast steering mirror (4) in one dimension along the horizontal direction, adjust the precision turntable (6) in the reverse direction at 2 times the step angle, and emit the first path of the laser at the same time. The laser is received by the laser receiver (12), the height change of the light spot is analyzed, the rotation amount of the fast steering mirror (4) is adjusted according to the height change, and the up and down offset of the laser converging spot received by the laser receiver (12) is reduced to the lowest. Adjust the fast steering mirror (4) to return to the initial zero position, and use the laser target paper (13) to receive the laser spot. Adjust the fast steering mirror (4) by using the electric adjustment to make the laser converging damage spot (A) on the laser target paper (13) located at the center of the large field of view photoelectric sensor (3) imaging electric "+". At this time, the pitch and azimuth values of the fast steering mirror (4) are set as the final zero position.

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