Laser terminal optical axis calibration method, system, device and medium

Abstract

The embodiments of the present application provide a method, system, device and medium for calibrating the optical axis of a laser terminal, and relate to the field of testing technology. The method includes: obtaining the first centroid position of the first light spot generated in the monitoring camera, the first light spot is generated by the laser emitted by the laser marker after being reflected by the first reference prism, the monitoring camera and the laser marker are located on a displacement table, the first reference prism is installed on the laser terminal to be measured, the laser terminal is installed on a turntable, and the displacement table is located between the laser terminal and the collimator; the turntable is controlled to rotate until the first centroid position coincides with the position of the preset tracking point, and the optical axis calibration of the laser terminal and the collimator is completed, and the parallel light emitted by the collimator is reflected by the first reference prism to the centroid position of the light spot formed in the monitoring camera. The solution provided by the embodiments of the present application can reduce the manpower cost required for the optical axis calibration of the laser terminal.

Description

Technical Field

[0001] The present application relates to the field of testing technology, and in particular to a method, system, device and medium for calibrating the optical axis of a laser terminal. Background Art

[0002] When laser terminals are used for laser communication in space, the transmission distance of the laser terminal often reaches hundreds or even tens of thousands of kilometers. Therefore, if the laser terminal is tested and parameter measurements are performed in a space orbit, there will be problems of complex operation, high cost, and low success rate. Therefore, in related technologies, parallel light tubes are often used to simulate long-distance transmission of laser communication on the ground to test the laser terminal. However, before each test, the optical axis of the laser terminal to be tested and the optical axis of the parallel light tube need to be calibrated. The calibration in the related technology requires manual calibration by the staff. This process is relatively complicated and requires a long time and labor costs. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a laser terminal optical axis calibration method, system, device and medium to reduce the manpower cost required for laser terminal optical axis calibration. The specific technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a method for calibrating an optical axis of a laser terminal, the method comprising:

[0005] Obtaining a first centroid position of a first light spot generated in a monitoring camera, wherein the first light spot is generated by a laser emitted by a laser marker and reflected by a first reference prism, the monitoring camera and the laser marker are located on a translation stage, the first reference prism is mounted on a laser terminal to be measured, the laser terminal is mounted on a turntable, and the translation stage is located between the laser terminal and a collimator;

[0006] The turntable is controlled to rotate until the first centroid position coincides with the position of a preset tracking point, thereby completing the optical axis calibration of the laser terminal and the collimator, wherein the tracking point is: when the distance between the center of the angle cone on the displacement table and the optical axis of the collimator is less than the preset distance, the parallel light emitted by the collimator is reflected by the first reference prism to the centroid position of the light spot formed in the monitoring camera.

[0007] In one embodiment of the present application, before obtaining the first centroid position of the first light spot generated in the surveillance camera, the method further includes:

[0008] Acquire a second centroid position of a second light spot generated in the surveillance camera, wherein the second light spot is generated after the laser emitted by the laser marker is reflected by a second reference prism, and the second reference prism is mounted on the turntable;

[0009] The turntable is controlled to rotate until the second center of mass position coincides with the position of a preset tracking point.

[0010] In one embodiment of the present application, after controlling the turntable to rotate until the first center of mass position coincides with the position of the preset tracking point, the method further includes:

[0011] Controlling the translation stage to move to a first position, wherein at the first position, the device on the translation stage deviates from the optical axis of the parallel light pipe;

[0012] The laser terminal is controlled to track the parallel light emitted by the collimator.

[0013] In one embodiment of the present application, after completing the optical axis calibration between the laser terminal and the collimator, the method further includes:

[0014] Obtaining a first position conversion matrix from the second reference prism to the third reference prism, wherein before the laser terminal is installed on the turntable, the third reference prism is installed at the position where the laser terminal is located, and the second reference prism and the laser terminal are installed on the turntable together;

[0015] Acquire a second position conversion matrix from the second reference prism to the first reference prism;

[0016] Based on the first position transformation matrix, the second position transformation matrix, and the first relative posture of the third reference prism relative to the laser terminal, the second relative posture and the third relative posture are calculated, wherein the second relative posture is: the relative posture of the first reference prism relative to the laser terminal, and the third relative posture is: the relative posture of the second reference prism relative to the laser terminal.

[0017] In one embodiment of the present application, after completing the optical axis calibration between the laser terminal and the collimator, the method further includes:

[0018] Controlling the translation stage to move to a second position, wherein at the second position, the centers of the first spatial coupler and the first spatial optical power meter on the translation stage coincide with the optical axis, and the first spatial optical power meter of the two is close to the laser terminal;

[0019] Acquire a first optical power of the parallel light emitted by the collimator collected by the first spatial optical power meter;

[0020] The entrance pupil sensitivity of the laser terminal is calculated based on the first optical power, the entrance pupil diameter and entrance pupil loss of the first spatial coupler, and the exit pupil diameter of the laser terminal.

[0021] In one embodiment of the present application, after completing the optical axis calibration between the laser terminal and the collimator, the method further includes:

[0022] Controlling the translation stage to move to a third position, wherein at the third position, the centers of the second spatial coupler and the second spatial optical power meter on the translation stage coincide with the optical axis, the second spatial optical power meter is close to the collimator, and the aperture of the second spatial coupler is larger than the aperture of the laser terminal;

[0023] Acquire a second optical power of the output light of the laser terminal collected by the second spatial optical power meter;

[0024] Based on the second optical power and the entrance pupil loss of the second spatial coupler, the exit pupil power of the laser terminal is calculated.

[0025] In one embodiment of the present application, after completing the optical axis calibration between the laser terminal and the collimator, the method further includes:

[0026] Controlling the translation stage to move to a fourth position, wherein at the fourth position, the center of the polarization analyzer on the translation stage coincides with the optical axis;

[0027] The polarization state of the outgoing light is obtained by measuring the polarization analyzer after receiving the outgoing light of the laser terminal.

[0028] In one embodiment of the present application, after completing the optical axis calibration between the laser terminal and the collimator, the method further includes:

[0029] controlling the translation stage to move to a fifth position, wherein at the fifth position, the center of the third spatial coupler on the translation stage coincides with the optical axis;

[0030] The wavelength of the output light of the laser terminal is obtained, wherein the wavelength of the output light is obtained by measuring the wavelength of the coupling result, and the coupling result is obtained by coupling after the third spatial coupler receives the output light of the laser terminal.

[0031] In a second aspect, an embodiment of the present application provides a laser terminal optical axis calibration system, the system comprising a workbench, a turntable, a displacement table equipped with a monitoring camera, a laser marker and a cone, the laser terminal being installed on the turntable; the displacement table being located between the laser terminal and the collimator;

[0032] The laser marker is used to emit laser;

[0033] The monitoring camera is used to send the first centroid position of the first light spot generated in the monitoring camera to the workbench, wherein the first light spot is generated by the laser emitted by the laser marker after being reflected by the first reference prism, and the first reference prism is installed on the laser terminal to be measured;

[0034] The workbench is used to obtain the first center of mass position; control the turntable to rotate until the first center of mass position coincides with the position of a preset tracking point, thereby completing the optical axis calibration of the laser terminal and the collimator, wherein the tracking point is: when the distance between the center of the angle cone and the optical axis of the collimator is less than the preset distance, the parallel light emitted by the collimator is reflected by the first reference prism to the center of mass of the light spot formed in the monitoring camera.

[0035] In one embodiment of the present application, a second reference prism is mounted on the turntable;

[0036] The monitoring camera is also used to send the second centroid position of the second light spot generated in the monitoring camera to the workbench, wherein the second light spot is generated after the laser emitted by the laser marker is reflected by the second reference prism;

[0037] The workbench is used to obtain the second center of mass position and control the turntable to rotate until the second center of mass position coincides with the position of a preset tracking point.

[0038] In one embodiment of the present application, the workbench is also used for:

[0039] Controlling the translation stage to move to a first position, wherein at the first position, the device on the translation stage deviates from the optical axis of the parallel light pipe;

[0040] The laser terminal is controlled to track the parallel light emitted by the collimator.

[0041] In one embodiment of the present application, after completing the optical axis calibration between the laser terminal and the collimator, the workbench is further used to:

[0042] Obtaining a first position conversion matrix from the second reference prism to the third reference prism, wherein before the laser terminal is installed on the turntable, the third reference prism is installed at the position where the laser terminal is located, and the second reference prism and the laser terminal are installed on the turntable together;

[0043] Acquire a second position conversion matrix from the second reference prism to the first reference prism;

[0044] Based on the first position transformation matrix, the second position transformation matrix, and the first relative posture of the third reference prism relative to the laser terminal, the second relative posture and the third relative posture are calculated, wherein the second relative posture is: the relative posture of the first reference prism relative to the laser terminal, and the third relative posture is: the relative posture of the second reference prism relative to the laser terminal.

[0045] In one embodiment of the present application, the translation platform is further installed with a first spatial coupler and a first spatial optical power meter. After completing the optical axis calibration of the laser terminal and the collimator, the workbench is further used to:

[0046] Controlling the translation stage to move to a second position, wherein at the second position, the centers of the first spatial coupler and the first spatial optical power meter on the translation stage coincide with the optical axis, and the first spatial optical power meter of the two is close to the laser terminal;

[0047] The first spatial optical power meter is used to collect the first optical power of the parallel light emitted by the collimator and send the first optical power to the workbench;

[0048] The workbench is also used to calculate the entrance pupil sensitivity of the laser terminal based on the first optical power, the entrance pupil diameter and entrance pupil loss of the first spatial coupler, and the exit pupil diameter of the laser terminal.

[0049] In one embodiment of the present application, a second spatial coupler and a second spatial optical power meter are also installed on the displacement platform, the aperture of the second spatial coupler is larger than the aperture of the laser terminal, and after completing the optical axis calibration of the laser terminal and the collimator, the workbench is also used for:

[0050] Controlling the translation stage to move to a third position, wherein at the third position, centers of the second spatial coupler and the second spatial optical power meter on the translation stage coincide with the optical axis, and the second spatial optical power meter is close to the collimator;

[0051] The second spatial optical power meter is used to collect the second optical power of the output light of the laser terminal and send the second optical power to the workbench;

[0052] The workbench is also used to calculate the exit pupil power of the laser terminal based on the second optical power and the entrance pupil loss of the second spatial coupler.

[0053] In one embodiment of the present application, a polarization analyzer is also installed on the translation platform. After completing the optical axis calibration between the laser terminal and the collimator, the workbench is also used to:

[0054] Controlling the translation stage to move to a fourth position, wherein at the fourth position, the center of the polarization analyzer on the translation stage coincides with the optical axis;

[0055] The polarization analyzer is used for measuring the polarization state of the outgoing light after receiving the outgoing light from the laser terminal, and sending the polarization state of the outgoing light to the workbench.

[0056] In one embodiment of the present application, a third spatial coupler is further installed on the translation platform. After completing the optical axis calibration between the laser terminal and the collimator, the workbench is further used to:

[0057] controlling the translation stage to move to a fifth position, wherein at the fifth position, the center of the third spatial coupler on the translation stage coincides with the optical axis;

[0058] The third spatial coupler is used to receive the outgoing light of the laser terminal, and obtain a coupling result after coupling processing on the outgoing light, and send the coupling result to the wavelength meter so that the wavelength meter measures the wavelength of the coupling result to obtain the wavelength of the outgoing light, and sends the outgoing light wavelength to the workbench.

[0059] In a third aspect, an embodiment of the present application provides a laser terminal optical axis calibration device, the device comprising:

[0060] A first position acquisition module, used for acquiring a first centroid position of a first light spot generated in a monitoring camera, wherein the first light spot is generated by a laser emitted by a laser marker after being reflected by a first reference prism, the monitoring camera and the laser marker are located on a translation platform, the first reference prism is mounted on a laser terminal to be measured, the laser terminal is mounted on a turntable, and the translation platform is located between the laser terminal and the collimator;

[0061] The first rotation control module is used to control the rotation of the turntable until the first centroid position coincides with the position of a preset tracking point, thereby completing the optical axis calibration of the laser terminal and the collimator, wherein the tracking point is: when the distance between the center of the angle cone on the displacement table and the optical axis of the collimator is less than the preset distance, the parallel light emitted by the collimator is reflected by the first reference prism to the centroid position of the light spot formed in the monitoring camera.

[0062] In one embodiment of the present application, the device further includes:

[0063] A second position acquisition module, used for acquiring a second centroid position of a second light spot generated in the monitoring camera, wherein the second light spot is generated after the laser emitted by the laser marker is reflected by a second reference prism, and the second reference prism is mounted on the turntable;

[0064] The second rotation control module is used to control the rotation of the turntable until the second center of mass position coincides with the position of a preset tracking point.

[0065] In one embodiment of the present application, the device further includes:

[0066] A first position control module, used for controlling the translation stage to move to a first position, wherein at the first position, the device on the translation stage deviates from the optical axis of the collimator;

[0067] The tracking control module is used to control the laser terminal to track the parallel light emitted by the collimator.

[0068] In one embodiment of the present application, the device further includes:

[0069] A first matrix acquisition module is used to acquire a first position conversion matrix from a second reference prism to a third reference prism after completing the optical axis calibration of the laser terminal and the collimator, wherein before the laser terminal is installed on the turntable, the third reference prism is installed at the position where the laser terminal is located, and the second reference prism and the laser terminal are installed on the turntable together;

[0070] A second matrix acquisition module, used to acquire a second position conversion matrix from the second reference prism to the first reference prism;

[0071] A posture calculation module is used to calculate a second relative posture and a third relative posture based on the first position transformation matrix, the second position transformation matrix, and the first relative posture of the third reference prism relative to the laser terminal, wherein the second relative posture is: the relative posture of the first reference prism relative to the laser terminal, and the third relative posture is: the relative posture of the second reference prism relative to the laser terminal.

[0072] In one embodiment of the present application, the device further includes:

[0073] A second position control module is used to control the translation stage to move to a second position after completing the optical axis calibration between the laser terminal and the collimator, wherein at the second position, the centers of the first spatial coupler and the first spatial optical power meter on the translation stage coincide with the optical axis, and the first spatial optical power meter of the two is close to the laser terminal;

[0074] A first optical power acquisition module, used to acquire a first optical power of the parallel light emitted by the collimator collected by the first spatial optical power meter;

[0075] A sensitivity calculation module is used to calculate the entrance pupil sensitivity of the laser terminal based on the first optical power, the entrance pupil diameter and entrance pupil loss of the first spatial coupler, and the exit pupil diameter of the laser terminal.

[0076] In one embodiment of the present application, the device further includes:

[0077] A third position control module is used to control the translation stage to move to a third position after completing the optical axis calibration between the laser terminal and the collimator, wherein at the third position, the centers of the second spatial coupler and the second spatial optical power meter on the translation stage coincide with the optical axis, the second spatial optical power meter is close to the collimator, and the aperture of the second spatial coupler is larger than the aperture of the laser terminal;

[0078] A second optical power acquisition module, used to acquire a second optical power of the output light of the laser terminal collected by the second spatial optical power meter;

[0079] An exit pupil power calculation module is used to calculate the exit pupil power of the laser terminal based on the second optical power and the entrance pupil loss of the second spatial coupler.

[0080] In one embodiment of the present application, the device further includes:

[0081] a fourth position control module, configured to control the translation stage to move to a fourth position after completing the optical axis calibration between the laser terminal and the collimator, wherein at the fourth position, the center of the polarization analyzer on the translation stage coincides with the optical axis;

[0082] The polarization state acquisition module is used to acquire the polarization state of the outgoing light measured after the polarization analyzer receives the outgoing light of the laser terminal.

[0083] In one embodiment of the present application, the device further includes:

[0084] a fifth position control module, configured to control the translation stage to move to a fifth position after completing the optical axis calibration between the laser terminal and the collimator, wherein at the fifth position, the center of the third spatial coupler on the translation stage coincides with the optical axis;

[0085] The wavelength acquisition module is used to acquire the wavelength of the output light of the laser terminal, wherein the output light wavelength is obtained by measuring the wavelength of the coupling result, and the coupling result is obtained by coupling after the third spatial coupler receives the output light of the laser terminal.

[0086] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, any method step described in the first aspect is implemented.

[0087] In a fifth aspect, an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the methods described in the first aspect above.

[0088] Beneficial effects of the embodiments of the present application:

[0089] In the solution provided by the embodiment of the present application, the laser emitted by the laser marker on the monitoring camera can generate a light spot in the monitoring camera after being reflected by the first reference prism. Since the first reference prism is located on the laser terminal, the position of the laser terminal will affect the position of the first reference prism, thereby affecting the reflection of the laser by the first reference prism, thereby affecting the position of the first light spot centroid of the light spot. Therefore, the position of the first light spot centroid can reflect the position of the laser terminal. Controlling the rotation of the turntable on which the laser terminal is installed can drive the laser terminal to rotate. When the position of the first light spot centroid coincides with the preset tracking point, it can be determined that the position of the laser terminal has reached the predetermined position where the optical axis of the laser terminal coincides with the optical axis of the parallel light tube, and the calibration of the laser terminal can be completed. The above process does not require manual participation, which can save labor costs. In addition, since this process does not require manual participation, the manual error introduced by manual optical axis calibration can be reduced, and the accuracy of the test results of subsequent tests on the laser terminal can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0091] Figure 1 A schematic diagram of a flow chart of a first laser terminal optical axis calibration method provided in an embodiment of the present application;

[0092] Figure 2 A schematic diagram of a flow chart of a second laser terminal optical axis calibration method provided in an embodiment of the present application;

[0093] Figure 3 A schematic diagram of optical axis calibration provided in an embodiment of the present application;

[0094] Figure 4 A schematic diagram of a flow chart of a third laser terminal optical axis calibration method provided in an embodiment of the present application;

[0095] Figure 5 A schematic diagram of a relative posture measurement method provided in an embodiment of the present application;

[0096] Figure 6 A schematic diagram of a flow chart of a method for measuring entrance pupil sensitivity provided in an embodiment of the present application;

[0097] Figure 7 A schematic diagram of a flow chart of an exit pupil power measurement method provided in an embodiment of the present application;

[0098] Figure 8 A schematic diagram of a flow chart of a method for measuring the polarization state of an outgoing light provided in an embodiment of the present application;

[0099] Fig. 9 A schematic diagram of a flow chart of a method for measuring the wavelength of an outgoing light provided in an embodiment of the present application;

[0100] Fig.10 A schematic diagram of a communication relationship between devices provided in an embodiment of the present application;

[0101] Fig.11 A schematic diagram of the structure of a translation platform provided in an embodiment of the present application;

[0102] Fig.12 A schematic diagram of the use of the first laser terminal optical axis calibration system provided in an embodiment of the present application;

[0103] Fig.13 A schematic diagram of the use of the second laser terminal optical axis calibration system provided in an embodiment of the present application;

[0104] Fig.14 A schematic diagram of the structure of a laser terminal optical axis calibration device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0105] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0106] Since the related art requires a lot of time and labor costs to manually calibrate the optical axis of the laser terminal and the parallel light tube, in order to solve the above problem, the embodiments of the present application provide a laser terminal optical axis calibration method, system, device and medium.

[0107] See also Figure 1, which is a flow chart of the first laser terminal optical axis calibration method provided in an embodiment of the present application, including the following steps S101-S102.

[0108] The execution subject of the embodiment of the present application may be a workbench, which is communicatively connected to a server, and the server is communicatively connected to a translation stage, a turntable, a parallel light pipe, and various devices installed on the translation stage and the turntable.

[0109] S101: Acquire a first centroid position of a first light spot generated in a surveillance camera.

[0110] Among them, the centroid of the first light spot is generated by the laser emitted by the laser marker after being reflected by the first reference prism. The monitoring camera and the laser marker are located on a displacement platform. In one case, the laser marker can be installed on the upper surface of the monitoring camera, the first reference prism is installed on the laser terminal to be measured, the laser terminal is installed on a turntable, and the displacement platform is located between the laser terminal and the parallel light tube.

[0111] Specifically, the above-mentioned translation stage is arranged opposite to the above-mentioned turntable. The above-mentioned translation stage can be a two-axis translation stage, which can realize high-precision automatic lifting and automatic translation adjustment. In addition, in order to make the translation stage be placed horizontally and stably, the bottom surface of the above-mentioned translation stage can be provided with adjustable foot pads, and the adjustable foot pads can adjust the height manually, or adjust the height under the control of the workbench through the built-in electric drive and servo control. In addition, an adapter plate can be installed on the upper surface of the above-mentioned translation stage, and the devices on the translation stage are installed on the upper surface of the adapter plate.

[0112] Ideally, the centers of the turntable's pitch and azimuth axes and the optical axis of the parallel light tube are located on the same straight line.

[0113] In addition, the adapter plate on the stage needs to remain horizontal when the stage is raised or lowered. When the stage is translated, the edge of the adapter plate parallel to the translation direction needs to be perpendicular to the optical axis of the collimator.

[0114] The turntable can be a two-dimensional turntable, and the laser terminal is mounted on the two-dimensional turntable through a tooling, and can rotate in the horizontal plane and in pitch. The first reference prism faces the collimator, and the center normal of its reflection surface is parallel to the optical axis of the collimator.

[0115] The position of the translation stage allows the laser generated by the laser marker to irradiate the first reference prism, enter the monitoring camera after being reflected by the first reference prism, and form an image on the plane of the monitoring camera to form a first light spot. The monitoring camera includes a lens. The monitoring camera sends the first centroid position of the collected first light spot to the workbench.

[0116] Before calibrating the laser terminal optical axis, first start the laser terminal and roughly align it with the collimator. By adjusting the turntable, the first reference prism reflects the laser emitted by the laser marker into the monitoring camera, and the monitoring camera collects the first light spot and sends the first centroid position of the first light spot to the workbench.

[0117] If the first light spot does not appear in the monitoring camera, the scanning program is started to control the turntable to perform scanning movement until the first light spot appears in the monitoring camera.

[0118] S102: Control the turntable to rotate until the first centroid position coincides with the position of a preset tracking point, thereby completing the optical axis calibration between the laser terminal and the collimator.

[0119] Among them, the above-mentioned tracking point is: when the distance between the center of the corner cone on the above-mentioned displacement platform and the optical axis of the above-mentioned parallel light tube is less than the preset distance, the parallel light emitted by the above-mentioned parallel light tube is reflected by the above-mentioned first reference prism to the position of the centroid of the light spot formed in the above-mentioned monitoring camera.

[0120] The preset distance may be 5 cm, 8 cm, etc. The specific value of the preset distance is not limited in the embodiment of the present application, but the distance between the center of the angle cone and the optical axis of the collimator should be small when determining the tracking point, and should be controlled within 10 cm in theory. In addition, when the center of the angle cone coincides with the optical axis of the collimator, the position of the determined tracking point is most accurate.

[0121] The position of the above-mentioned angle cone on the translation stage can be calibrated using a line-laying instrument. The motion reference point of the calibration point (i.e. the default motion terminal of the angle cone) is the entrance pupil center of the collimator, which can reflect the outgoing light emitted by the collimator. The role of the angle cone is equivalent to self-calibration of the collimator.

[0122] Specifically, the above-mentioned corner cone is installed in parallel with the monitoring camera. The above-mentioned workbench controls the rotation of the turntable according to the relative posture relationship between the above-mentioned first centroid position and the position of the preset tracking point. If the opposite direction of the lens direction of the monitoring camera is used as a reference, if the first centroid position is located to the left of the position of the preset tracking point, the turntable is controlled to rotate right; if the first centroid position is located to the right of the position of the preset tracking point, the turntable is controlled to rotate left. If the first centroid position is located above the position of the preset tracking point, the turntable is controlled to rotate in the pitch direction; if the first centroid position is located below the position of the preset tracking point, the turntable is controlled to rotate in the elevation direction.

[0123] The workbench continuously obtains the first center of mass position and continuously controls the turntable to rotate until the first center of mass position coincides with the position of the preset tracking point, and the workbench sends a first stop instruction to the turntable to stop the turntable.

[0124] As can be seen from the above, after the laser emitted by the laser marker on the monitoring camera is reflected by the first reference prism, a light spot can be generated in the monitoring camera. Since the first reference prism is located on the laser terminal, the position of the laser terminal will affect the position of the first reference prism, and then affect the reflection of the laser by the first reference prism, thereby affecting the position of the first light spot centroid of the light spot. Therefore, the position of the first light spot centroid can reflect the position of the laser terminal. Controlling the rotation of the turntable on which the laser terminal is installed can drive the laser terminal to rotate. When the position of the first light spot centroid coincides with the preset tracking point, it can be determined that the position of the laser terminal has reached the predetermined position where the optical axis of the laser terminal coincides with the optical axis of the parallel light tube, and the calibration of the laser terminal can be completed. The above process does not require manual participation, which can save labor costs. In addition, since this process does not require manual participation, it can reduce the manual error introduced by manual optical axis calibration and improve the accuracy of the test results of subsequent tests on the laser terminal.

[0125] See also Figure 2 , is a flow chart of a second laser terminal optical axis calibration method provided in an embodiment of the present application, which is similar to the aforementioned Figure 1 Compared with the embodiment shown, the above step S101 also includes the following steps S103-S104.

[0126] S103: Acquire a second centroid position of a second light spot generated in the surveillance camera.

[0127] The second light spot is generated by the laser emitted by the laser marker after being reflected by the second reference prism, and the second reference prism is installed on the turntable.

[0128] The second reference prism faces the collimator, and the center normal of its reflection surface is parallel to the optical axis of the collimator. The position of the translation stage allows the laser generated by the laser marker to irradiate the second reference prism, enter the monitoring camera after being reflected by the second reference prism, and form an image on the plane of the monitoring camera to form a second light spot. The monitoring camera includes a lens. The monitoring camera sends the second centroid position of the collected second light spot to the workbench.

[0129] S104: Control the turntable to rotate until the second center of mass position coincides with the position of the preset tracking point.

[0130] The workbench continuously obtains the second center of mass position and continuously controls the turntable to rotate until the second center of mass position coincides with the position of the preset tracking point, and the workbench sends a second stop instruction to the turntable to stop the turntable.

[0131] The manner of controlling the rotation of the turntable in step S104 is similar to the manner of controlling the rotation of the turntable in step S102 to make the second centroid position coincide with the position of the preset tracking point, and will not be described in detail here.

[0132] As can be seen from the above, in the embodiment of the present application, before the optical axis calibration is performed based on the first centroid position, the optical axis calibration is also performed based on the second centroid position. That is, in the embodiment of the present application, the optical axis rough calibration is first performed based on the second centroid position, and then the optical axis precise calibration is performed based on the first centroid position. Performing two calibrations can further improve the accuracy of the optical axis calibration.

[0133] After the above rough calibration, the optical axis error between the laser terminal optical axis and the collimator optical axis is theoretically less than or equal to 1°. After the above precise calibration, the optical axis error between the laser terminal optical axis and the collimator optical axis is theoretically less than or equal to 0.5 mrad.

[0134] See also Figure 3 , is a schematic diagram of an optical axis calibration provided in an embodiment of the present application.

[0135] The figure includes a two-dimensional turntable, a laser terminal, and an optical axis of the laser terminal. 11 in the figure is a second reference prism, 4 is a monitoring camera, 3 is a laser marker, and below the monitoring camera 4 is a displacement stage. D in the figure is the distance between the laser marker 3 and the second reference prism 11 is D, and the distance between the laser marker 3 and the monitoring camera is d. The angle between the outgoing light of the laser marker 3 and the incident light direction of the monitoring camera 4 is θ.

[0136] See also Figure 4 , is a flow chart of a third laser terminal optical axis calibration method provided in an embodiment of the present application, which is similar to the aforementioned Figure 1 Compared with the embodiment shown, the following steps S105-S106 are also included after the above step S102.

[0137] S105: Control the translation stage to move to a first position.

[0138] Wherein, at the first position, the device on the displacement stage deviates from the optical axis of the parallel light pipe.

[0139] During the optical axis calibration process, the translation stage is located between the collimator and the laser terminal. In order to make the device on the translation stage offset from the optical axis of the collimator, the translation stage can be controlled to move outside the area between the laser terminal and the collimator on the horizontal plane, or the translation stage can be controlled to descend so that the device on the translation stage deviates from the optical axis of the collimator. For example, the translation stage is controlled to adjust the height to 0. In this case, the translation stage is located at the first position.

[0140] After the translation stage moves to the first position, the components on the translation stage will not block the optical axis of the parallel light tube.

[0141] S106: Control the laser terminal to track the parallel light emitted by the collimator.

[0142] Specifically, the laser terminal can be controlled to perform rough and fine tracking of the parallel light emitted by the collimator, and track the emitted light from the collimator system. In this case, it is considered that the optical axis of the laser terminal is aligned with the optical axis of the collimator, and the workbench enables the turntable and the collimator in this state to keep them stably in this state, that is, at this moment, the optical axis calibration is completed. The way in which the laser terminal tracks the parallel light emitted by the collimator belongs to the related art and will not be described in detail here.

[0143] In this case, the error between the optical axis of the laser terminal and the optical axis of the collimator is theoretically less than or equal to 5urad.

[0144] From the above, it can be seen that in the embodiment of the present application, after completing the optical axis calibration of the laser terminal based on the first center of mass position of the first light spot, the laser terminal can be further controlled to track the parallel light emitted by the parallel light tube, so that the optical axis error between the optical axis of the laser terminal and the optical axis of the parallel light tube is further reduced, thereby further improving the accuracy of the optical axis calibration.

[0145] After completing the optical axis calibration of the laser terminal and the collimator, the parameters of the laser terminal can be further measured.

[0146] See also Figure 5 , is a schematic diagram of a relative posture measurement method provided in an embodiment of the present application, including the following steps S501-S503.

[0147] S501: Acquire a first position conversion matrix from the second reference prism to the third reference prism.

[0148] Before the laser terminal is installed on the turntable, the third reference prism is installed at the location of the laser terminal, and the second reference prism and the laser terminal are installed together on the turntable.

[0149] Specifically, the first position conversion matrix can be obtained by measuring the second reference prism and the third reference prism with a theodolite when the second reference prism and the third reference prism are installed on the turntable. The first position conversion matrix can be represented by a cosine matrix, for example, the first position conversion matrix can be called C12. The method of measuring the first position conversion matrix with a theodolite can refer to the relevant technology, which will not be repeated here.

[0150] S502: Acquire a second position conversion matrix from the second reference prism to the first reference prism.

[0151] Specifically, the second position conversion matrix may be obtained by measuring with a theodolite. The second position conversion matrix may be represented by a cosine matrix, for example, the second position conversion matrix may be referred to as C13.

[0152] The method of using theodolite to measure the second position conversion matrix can be found in the relevant technology, which will not be described in detail here.

[0153] S503: Based on the first position conversion matrix, the second position conversion matrix, and the first relative position of the third reference prism relative to the laser terminal, calculate the second relative position and the third relative position.

[0154] Among them, the second relative posture is: the relative posture of the first reference prism relative to the laser terminal, and the third relative posture is: the relative posture of the second reference prism relative to the laser terminal.

[0155] Specifically, since the third reference prism and the laser terminal are installed at the same position, their orientations may be different, so the first relative position of the third reference prism relative to the laser terminal can be determined based on the difference in their orientations. The first relative position can be determined using the method in the related art, and the embodiment of the present application does not limit the specific determination method.

[0156] In one embodiment of the present application, the relationship among the first relative posture, the second relative posture, and the third relative posture may be expressed based on the following formula: The second relative posture and the third relative posture may be calculated based on the following formula.

[0157]

[0158]

[0159]

[0160] in, is the third relative posture, is the first relative posture, is the second relative posture, is the first position transformation matrix, is the second position transformation matrix. Can be ( ), Can be ( ), Can be ( ) in the form of .

[0161] From the above, it can be seen that after completing the optical axis calibration of the laser terminal and the parallel light tube, the embodiment of the present application can calculate the second relative posture of the first reference prism relative to the above-mentioned laser terminal and the relative posture of the second reference prism relative to the above-mentioned laser terminal, thereby measuring the position parameters of the first reference prism and the second reference prism to complete the automatic zero point calibration of the laser terminal.

[0162] In addition, after completing the optical axis calibration of the laser terminal and the collimator, the entrance pupil sensitivity of the laser terminal can be further measured.

[0163] See also Figure 6 , is a flow chart of a method for measuring entrance pupil sensitivity provided in an embodiment of the present application, including the following steps S601-S603.

[0164] S601: Control the translation stage to move to a second position.

[0165] Among them, in the above-mentioned second position, the centers of the first spatial coupler and the above-mentioned first spatial optical power meter on the above-mentioned displacement stage coincide with the above-mentioned optical axis, the first spatial optical power meter is close to the above-mentioned laser terminal, and the first spatial coupler is close to the parallel light tube.

[0166] The first spatial coupler and the first spatial optical power meter are placed side by side on the translation platform. The first spatial optical power meter faces the collimator and can receive the parallel light emitted from the collimator.

[0167] S602: Acquire a first optical power of the parallel light emitted by the collimator collected by the first spatial optical power meter.

[0168] The first spatial optical power meter can measure the first optical power of the parallel light after receiving the parallel light emitted by the parallel light tube.

[0169] S603: Calculate the entrance pupil sensitivity of the laser terminal based on the first optical power, the entrance pupil diameter and entrance pupil loss of the first spatial coupler, and the exit pupil diameter of the laser terminal.

[0170] The above-mentioned entrance pupil diameter and entrance pupil loss are fixed values.

[0171] In one embodiment of the present application, the above entrance pupil sensitivity can be calculated based on the following formula:

[0172]

[0173] in, is the entrance pupil sensitivity, is the first optical power, is the entrance pupil loss of the first spatial coupler, is the entrance pupil diameter, is the exit pupil diameter.

[0174] As can be seen from the above, in this application, the laser terminal entrance pupil sensitivity can be automatically measured by automatically adjusting the position of the displacement stage and automatically collecting the first optical power. That is, the process of calculating the entrance pupil sensitivity does not require manual operation, which can improve the efficiency of measuring the entrance pupil sensitivity.

[0175] In addition, after completing the optical axis calibration of the laser terminal and the collimator, the exit pupil power of the laser terminal can be further measured.

[0176] See also Figure 7 , is a flow chart of an exit pupil power measurement method provided in an embodiment of the present application, including the following steps S701-S703.

[0177] S701: Control the above-mentioned translation stage to move to a third position.

[0178] Among them, in the above-mentioned third position, the centers of the second spatial coupler and the second spatial optical power meter on the above-mentioned displacement platform coincide with the above-mentioned optical axis, the second spatial optical power meter of the two is close to the above-mentioned parallel light tube, and the aperture of the above-mentioned second spatial coupler is larger than the aperture of the above-mentioned laser terminal.

[0179] The second spatial coupler and the second spatial optical power meter are placed side by side on the displacement table. The second spatial optical power meter faces the laser terminal and can receive the outgoing light emitted by the laser terminal.

[0180] S702: Obtain the second optical power of the output light of the laser terminal collected by the second spatial optical power meter.

[0181] After receiving the outgoing light emitted by the laser terminal, the second spatial optical power meter can measure the second optical power of the outgoing light.

[0182] S703: Calculate the exit pupil power of the laser terminal based on the second optical power and the entrance pupil loss of the second spatial coupler.

[0183] In one embodiment of the present application, the above-mentioned exit pupil power can be calculated based on the following formula:

[0184]

[0185] in, is the exit pupil power, is the second optical power, is the entrance pupil loss of the second spatial coupler.

[0186] As can be seen from the above, in this application, the laser terminal exit pupil power can be automatically measured by automatically adjusting the position of the displacement stage and automatically collecting the second optical power. That is, the process of calculating the exit pupil power does not require manual operation, which can improve the efficiency of measuring the exit pupil power.

[0187] In addition, after completing the optical axis calibration of the laser terminal and the collimator, the polarization state of the output light of the laser terminal can be further measured.

[0188] See also Figure 8, is a flow chart of a method for measuring the polarization state of an outgoing light provided in an embodiment of the present application, including the following steps S801-S802.

[0189] S801: Control the above-mentioned translation stage to move to a fourth position.

[0190] Wherein, at the fourth position, the center of the polarization analyzer on the translation stage coincides with the optical axis.

[0191] The polarization analyzer is directed toward the laser terminal and is capable of receiving the outgoing light emitted by the laser terminal.

[0192] S802: Obtain the polarization state of the outgoing light measured by the polarization analyzer after receiving the outgoing light of the laser terminal.

[0193] After receiving the outgoing light emitted by the laser terminal, the polarization analyzer can measure the polarization state of the outgoing light.

[0194] As can be seen from the above, in the present application, the polarization state of the outgoing light of the laser terminal can be automatically measured by automatically adjusting the position of the displacement stage and automatically collecting the polarization state of the outgoing light. That is, the process of calculating the polarization state of the outgoing light does not require manual operation, which can improve the efficiency of measuring the polarization state of the outgoing light.

[0195] In addition, after completing the optical axis calibration of the laser terminal and the collimator, the wavelength of the output light of the laser terminal can be further measured.

[0196] See also Fig. 9 , is a flow chart of a method for measuring the wavelength of an outgoing light provided in an embodiment of the present application, including the following steps S901-S902.

[0197] S901: Control the above-mentioned translation stage to move to the fifth position.

[0198] Wherein, at the fifth position, the center of the third spatial coupler on the translation stage coincides with the optical axis.

[0199] The third spatial coupler is oriented toward the laser terminal and is capable of receiving the outgoing light emitted by the laser terminal.

[0200] S902: Obtain the wavelength of the output light of the above laser terminal.

[0201] The wavelength of the outgoing light is obtained by measuring the wavelength of the coupling result, and the coupling result is obtained by coupling after the third spatial coupler receives the outgoing light of the laser terminal.

[0202] Specifically, after the third spatial coupler couples the received outgoing light, the coupling result can be transmitted to a wavelength meter, which is a device independent of the third spatial coupler and can measure the wavelength of the coupling result to obtain the outgoing light wavelength of the outgoing light. After the wavelength meter measures the outgoing light wavelength, it transmits the outgoing light wavelength to the workbench, so that the workbench obtains the outgoing light wavelength of the laser terminal.

[0203] The coupling result can be quickly transmitted between the third spatial coupler and the wavelength meter through a single-mode optical fiber, so that the measurement of the wavelength of the output light can be completed quickly. Of course, the coupling result can also be transmitted between the third spatial coupler and the wavelength meter through other data transmission media, which is not limited in the embodiments of the present application.

[0204] As can be seen from the above, the present application can automatically achieve the measurement of the wavelength of the outgoing light of the laser terminal by automatically adjusting the position of the displacement stage. That is, the process of measuring the wavelength of the outgoing light does not require manual operation, which can improve the efficiency of measuring the wavelength of the outgoing light.

[0205] In one embodiment of the present application, a monitoring camera, a laser marker, a cone, a first spatial optical power meter, a first spatial coupler, a second spatial optical power meter, a second spatial coupler, a polarization analyzer, a third spatial coupler, and a wavelength meter are all mounted on a displacement platform. Specifically, the above devices can all be mounted on the displacement platform through tooling.

[0206] Under the above premise, see Fig.10 , which is a schematic diagram of the communication relationship between devices provided in an embodiment of the present application.

[0207] The dotted-line frame in the figure is the optical axis calibration and parameter measurement equipment, which includes a translation stage, on which are installed a monitoring camera, a laser marker, a corner cone, a first spatial optical power meter, a first spatial coupler, a second spatial optical power meter, a second spatial coupler, a polarization analyzer, a third spatial coupler, and a wavelength meter. The center height of the above devices installed on the translation stage is kept horizontal. The figure also includes a laser terminal, a turntable, a server, and a workbench. The connecting line in the figure indicates that there is a communication relationship between the two ends of the connecting line. The double arrows between the laser terminal and the translation stage indicate the direction of the outgoing light and the incident light of the laser terminal.

[0208] See also Fig.11 , is a schematic diagram of the structure of a translation platform provided in an embodiment of the present application.

[0209] The left side of the figure is a right view, and the right side is a main view. The main view is observed from the position between the translation stage and the laser terminal toward the translation stage.

[0210] In the figure, 1 is a corner cone, 2 is a second spatial coupler and a second spatial optical power meter, 3 is a laser marker, 4 is a monitoring camera, 5 is a polarization analyzer, 6 is a third spatial coupler and a wavelength meter, 7 is a first spatial optical power meter and a first spatial coupler, 8 is an adapter plate, 9 is a translation stage, and 10 is an adjustable foot pad for adjusting the height of the translation stage.

[0211] See also Fig.12 , which is a schematic diagram of the use of the first laser terminal optical axis calibration system provided in an embodiment of the present application.

[0212] The figure includes the translation stage and the components mounted on the translation stage. Fig.11 The figure is the same as the right view in the figure, and will not be repeated here. The double arrows in the up and down directions on the left side of the translation stage indicate that the translation stage can be raised and lowered. The figure also includes a turntable and a laser terminal, a second reference prism 11 and a collimator. The dotted line between the collimator and the laser terminal is the optical axis. The figure also includes a workbench and a server, and the connecting lines between the devices in the figure indicate that there is a communication connection at both ends of the connecting line.

[0213] See also Fig.13 , is a schematic diagram of the use of the second laser terminal optical axis calibration system provided in an embodiment of the present application.

[0214] Fig.13 for Fig.12 Corresponding top view, in the figure, 1 is the corner cone, 2 is the second spatial coupler and the second spatial optical power meter, 3 is the laser marker, 4 is the monitoring camera, 5 is the polarization analyzer, 6 is the third spatial coupler and the wavelength meter, 7 is the first spatial optical power meter and the first spatial coupler, 8 is the adapter plate, and 11 is the second reference prism.

[0215] The up and down arrows on the left side of the adapter plate 8 indicate that the translation stage can move horizontally along the directions of the arrows.

[0216] Corresponding to the aforementioned laser terminal optical axis calibration method, an embodiment of the present application also provides a laser terminal optical axis calibration system.

[0217] The embodiment of the present application provides a laser terminal optical axis calibration system, the system comprising a workbench, a turntable, a displacement table equipped with a monitoring camera, a laser marker and a cone, the laser terminal being installed on the turntable; the displacement table being located between the laser terminal and the collimator;

[0218] The laser marker is used to emit laser;

[0219] The monitoring camera is used to send the first centroid position of the first light spot generated in the monitoring camera to the workbench, wherein the first light spot is generated by the laser emitted by the laser marker after being reflected by the first reference prism, and the first reference prism is installed on the laser terminal to be measured;

[0220] The workbench is used to obtain the first center of mass position; control the turntable to rotate until the first center of mass position coincides with the position of a preset tracking point, thereby completing the optical axis calibration of the laser terminal and the collimator, wherein the tracking point is: when the distance between the center of the angle cone and the optical axis of the collimator is less than the preset distance, the parallel light emitted by the collimator is reflected by the first reference prism to the center of mass of the light spot formed in the monitoring camera.

[0221] As can be seen from the above, in the solution provided by the embodiment of the present application, the laser emitted by the laser marker on the monitoring camera can generate a light spot in the monitoring camera after being reflected by the first reference prism. Since the first reference prism is located on the laser terminal, the position of the laser terminal will affect the position of the first reference prism, thereby affecting the reflection of the laser by the first reference prism, thereby affecting the position of the first light spot centroid of the light spot. Therefore, the position of the first light spot centroid can reflect the position of the laser terminal. Controlling the rotation of the turntable on which the laser terminal is installed can drive the laser terminal to rotate. When the position of the first light spot centroid coincides with the preset tracking point, it can be determined that the position of the laser terminal has reached the predetermined position where the optical axis of the laser terminal coincides with the optical axis of the parallel light tube, and the calibration of the laser terminal can be completed. The above process does not require manual participation, which can save labor costs. In addition, since this process does not require manual participation, the manual error introduced by manual optical axis calibration can be reduced, and the accuracy of the test results of subsequent tests on the laser terminal can be improved.

[0222] In one embodiment of the present application, a second reference prism is mounted on the turntable;

[0223] The monitoring camera is also used to send the second centroid position of the second light spot generated in the monitoring camera to the workbench, wherein the second light spot is generated after the laser emitted by the laser marker is reflected by the second reference prism;

[0224] The workbench is used to obtain the second center of mass position and control the turntable to rotate until the second center of mass position coincides with the position of a preset tracking point.

[0225] As can be seen from the above, in the embodiment of the present application, before the optical axis calibration is performed based on the first centroid position, the optical axis calibration is also performed based on the second centroid position. That is, in the embodiment of the present application, the optical axis rough calibration is first performed based on the second centroid position, and then the optical axis precise calibration is performed based on the first centroid position. Performing two calibrations can further improve the accuracy of the optical axis calibration.

[0226] In one embodiment of the present application, the workbench is also used for:

[0227] Controlling the translation stage to move to a first position, wherein at the first position, the device on the translation stage deviates from the optical axis of the parallel light pipe;

[0228] The laser terminal is controlled to track the parallel light emitted by the collimator.

[0229] From the above, it can be seen that in the embodiment of the present application, after completing the optical axis calibration of the laser terminal based on the first center of mass position of the first light spot, the laser terminal can be further controlled to track the parallel light emitted by the parallel light tube, so that the optical axis error between the optical axis of the laser terminal and the optical axis of the parallel light tube is further reduced, thereby further improving the accuracy of the optical axis calibration.

[0230] In one embodiment of the present application, after completing the optical axis calibration between the laser terminal and the collimator, the workbench is further used to:

[0231] Obtaining a first position conversion matrix from the second reference prism to the third reference prism, wherein before the laser terminal is installed on the turntable, the third reference prism is installed at the position where the laser terminal is located, and the second reference prism and the laser terminal are installed on the turntable together;

[0232] Acquire a second position conversion matrix from the second reference prism to the first reference prism;

[0233] Based on the first position transformation matrix, the second position transformation matrix, and the first relative posture of the third reference prism relative to the laser terminal, the second relative posture and the third relative posture are calculated, wherein the second relative posture is: the relative posture of the first reference prism relative to the laser terminal, and the third relative posture is: the relative posture of the second reference prism relative to the laser terminal.

[0234] From the above, it can be seen that after completing the optical axis calibration of the laser terminal and the parallel light tube, the embodiment of the present application can calculate the second relative posture of the first reference prism relative to the above-mentioned laser terminal and the relative posture of the second reference prism relative to the above-mentioned laser terminal, thereby measuring the position parameters of the first reference prism and the second reference prism to complete the automatic zero point calibration of the laser terminal.

[0235] In one embodiment of the present application, the translation platform is further installed with a first spatial coupler and a first spatial optical power meter. After completing the optical axis calibration of the laser terminal and the collimator, the workbench is further used to:

[0236] Controlling the translation stage to move to a second position, wherein at the second position, the centers of the first spatial coupler and the first spatial optical power meter on the translation stage coincide with the optical axis, and the first spatial optical power meter of the two is close to the laser terminal;

[0237] The first spatial optical power meter is used to collect the first optical power of the parallel light emitted by the collimator and send the first optical power to the workbench;

[0238] The workbench is also used to calculate the entrance pupil sensitivity of the laser terminal based on the first optical power, the entrance pupil diameter and entrance pupil loss of the first spatial coupler, and the exit pupil diameter of the laser terminal.

[0239] As can be seen from the above, in this application, the laser terminal entrance pupil sensitivity can be automatically measured by automatically adjusting the position of the displacement stage and automatically collecting the first optical power. That is, the process of calculating the entrance pupil sensitivity does not require manual operation, which can improve the efficiency of measuring the entrance pupil sensitivity.

[0240] In one embodiment of the present application, a second spatial coupler and a second spatial optical power meter are also installed on the displacement platform, the aperture of the second spatial coupler is larger than the aperture of the laser terminal, and after completing the optical axis calibration of the laser terminal and the collimator, the workbench is also used for:

[0241] Controlling the translation stage to move to a third position, wherein at the third position, centers of the second spatial coupler and the second spatial optical power meter on the translation stage coincide with the optical axis, and the second spatial optical power meter is close to the collimator;

[0242] The second spatial optical power meter is used to collect the second optical power of the output light of the laser terminal and send the second optical power to the workbench;

[0243] The workbench is also used to calculate the exit pupil power of the laser terminal based on the second optical power and the entrance pupil loss of the second spatial coupler.

[0244] As can be seen from the above, in this application, the laser terminal exit pupil power can be automatically measured by automatically adjusting the position of the displacement stage and automatically collecting the second optical power. That is, the process of calculating the exit pupil power does not require manual operation, which can improve the efficiency of measuring the exit pupil power.

[0245] In one embodiment of the present application, a polarization analyzer is also installed on the translation platform. After completing the optical axis calibration between the laser terminal and the collimator, the workbench is also used to:

[0246] Controlling the translation stage to move to a fourth position, wherein at the fourth position, the center of the polarization analyzer on the translation stage coincides with the optical axis;

[0247] The polarization analyzer is used for measuring the polarization state of the outgoing light after receiving the outgoing light from the laser terminal, and sending the polarization state of the outgoing light to the workbench.

[0248] As can be seen from the above, in the present application, the polarization state of the outgoing light of the laser terminal can be automatically measured by automatically adjusting the position of the displacement stage and automatically collecting the polarization state of the outgoing light. That is, the process of calculating the polarization state of the outgoing light does not require manual operation, which can improve the efficiency of measuring the polarization state of the outgoing light.

[0249] In one embodiment of the present application, a third spatial coupler is further installed on the translation platform. After completing the optical axis calibration between the laser terminal and the collimator, the workbench is further used to:

[0250] controlling the translation stage to move to a fifth position, wherein at the fifth position, the center of the third spatial coupler on the translation stage coincides with the optical axis;

[0251] The third spatial coupler is used to receive the outgoing light of the laser terminal, and obtain a coupling result after coupling processing on the outgoing light, and send the coupling result to the wavelength meter so that the wavelength meter measures the wavelength of the coupling result to obtain the wavelength of the outgoing light, and sends the outgoing light wavelength to the workbench.

[0252] As can be seen from the above, in the present application, the wavelength of the outgoing light of the laser terminal can be automatically measured by automatically adjusting the position of the displacement stage, that is, the process of measuring the wavelength of the outgoing light does not require manual operation, which can improve the efficiency of measuring the wavelength of the outgoing light.

[0253] Corresponding to the aforementioned laser terminal optical axis calibration method, an embodiment of the present application also provides a laser terminal optical axis calibration device.

[0254] See also Fig.14 , is a schematic diagram of the structure of a laser terminal optical axis calibration device provided in an embodiment of the present application, the device comprising:

[0255] A first position acquisition module 1401 is used to acquire a first centroid position of a first light spot generated in a monitoring camera, wherein the first light spot is generated by a laser emitted by a laser marker after being reflected by a first reference prism, the monitoring camera and the laser marker are located on a translation stage, the first reference prism is mounted on a laser terminal to be measured, the laser terminal is mounted on a turntable, and the translation stage is located between the laser terminal and a collimator;

[0256] The first rotation control module 1402 is used to control the rotation of the turntable until the first centroid position coincides with the position of a preset tracking point, thereby completing the optical axis calibration of the laser terminal and the collimator, wherein the tracking point is: when the distance between the center of the angle cone on the displacement table and the optical axis of the collimator is less than a preset distance, the parallel light emitted by the collimator is reflected by the first reference prism to the centroid position of the light spot formed in the monitoring camera.

[0257] As can be seen from the above, in the solution provided by the embodiment of the present application, the laser emitted by the laser marker on the monitoring camera can generate a light spot in the monitoring camera after being reflected by the first reference prism. Since the first reference prism is located on the laser terminal, the position of the laser terminal will affect the position of the first reference prism, thereby affecting the reflection of the laser by the first reference prism, thereby affecting the position of the first light spot centroid of the light spot. Therefore, the position of the first light spot centroid can reflect the position of the laser terminal. Controlling the rotation of the turntable on which the laser terminal is installed can drive the laser terminal to rotate. When the position of the first light spot centroid coincides with the preset tracking point, it can be determined that the position of the laser terminal has reached the predetermined position where the optical axis of the laser terminal coincides with the optical axis of the parallel light tube, and the calibration of the laser terminal can be completed. The above process does not require manual participation, which can save labor costs. In addition, since this process does not require manual participation, the manual error introduced by manual optical axis calibration can be reduced, and the accuracy of the test results of subsequent tests on the laser terminal can be improved.

[0258] In one embodiment of the present application, the device further includes:

[0259] A second position acquisition module, used for acquiring a second centroid position of a second light spot generated in the monitoring camera, wherein the second light spot is generated after the laser emitted by the laser marker is reflected by a second reference prism, and the second reference prism is mounted on the turntable;

[0260] The second rotation control module is used to control the rotation of the turntable until the second center of mass position coincides with the position of a preset tracking point.

[0261] As can be seen from the above, in the embodiment of the present application, before the optical axis calibration is performed based on the first centroid position, the optical axis calibration is also performed based on the second centroid position. That is, in the embodiment of the present application, the optical axis rough calibration is first performed based on the second centroid position, and then the optical axis precise calibration is performed based on the first centroid position. Performing two calibrations can further improve the accuracy of the optical axis calibration.

[0262] In one embodiment of the present application, the device further includes:

[0263] A first position control module, used for controlling the translation stage to move to a first position, wherein at the first position, the device on the translation stage deviates from the optical axis of the collimator;

[0264] The tracking control module is used to control the laser terminal to track the parallel light emitted by the collimator.

[0265] From the above, it can be seen that in the embodiment of the present application, after completing the optical axis calibration of the laser terminal based on the first center of mass position of the first light spot, the laser terminal can be further controlled to track the parallel light emitted by the parallel light tube, so that the optical axis error between the optical axis of the laser terminal and the optical axis of the parallel light tube is further reduced, thereby further improving the accuracy of the optical axis calibration.

[0266] In one embodiment of the present application, the device further includes:

[0267] A first matrix acquisition module is used to acquire a first position conversion matrix from a second reference prism to a third reference prism after completing the optical axis calibration of the laser terminal and the collimator, wherein before the laser terminal is installed on the turntable, the third reference prism is installed at the position where the laser terminal is located, and the second reference prism and the laser terminal are installed on the turntable together;

[0268] A second matrix acquisition module, used to acquire a second position conversion matrix from the second reference prism to the first reference prism;

[0269] A posture calculation module is used to calculate a second relative posture and a third relative posture based on the first position transformation matrix, the second position transformation matrix, and the first relative posture of the third reference prism relative to the laser terminal, wherein the second relative posture is: the relative posture of the first reference prism relative to the laser terminal, and the third relative posture is: the relative posture of the second reference prism relative to the laser terminal.

[0270] From the above, it can be seen that after completing the optical axis calibration of the laser terminal and the parallel light tube, the embodiment of the present application can calculate the second relative posture of the first reference prism relative to the above-mentioned laser terminal and the relative posture of the second reference prism relative to the above-mentioned laser terminal, thereby measuring the position parameters of the first reference prism and the second reference prism to complete the automatic zero point calibration of the laser terminal.

[0271] In one embodiment of the present application, the device further includes:

[0272] A second position control module is used to control the translation stage to move to a second position after completing the optical axis calibration between the laser terminal and the collimator, wherein at the second position, the centers of the first spatial coupler and the first spatial optical power meter on the translation stage coincide with the optical axis, and the first spatial optical power meter of the two is close to the laser terminal;

[0273] A first optical power acquisition module, used to acquire a first optical power of the parallel light emitted by the collimator collected by the first spatial optical power meter;

[0274] A sensitivity calculation module is used to calculate the entrance pupil sensitivity of the laser terminal based on the first optical power, the entrance pupil diameter and entrance pupil loss of the first spatial coupler, and the exit pupil diameter of the laser terminal.

[0275] As can be seen from the above, in this application, the laser terminal entrance pupil sensitivity can be automatically measured by automatically adjusting the position of the displacement stage and automatically collecting the first optical power. That is, the process of calculating the entrance pupil sensitivity does not require manual operation, which can improve the efficiency of measuring the entrance pupil sensitivity.

[0276] In one embodiment of the present application, the device further includes:

[0277] A third position control module is used to control the translation stage to move to a third position after completing the optical axis calibration between the laser terminal and the collimator, wherein at the third position, the centers of the second spatial coupler and the second spatial optical power meter on the translation stage coincide with the optical axis, the second spatial optical power meter is close to the collimator, and the aperture of the second spatial coupler is larger than the aperture of the laser terminal;

[0278] A second optical power acquisition module, used to acquire a second optical power of the output light of the laser terminal collected by the second spatial optical power meter;

[0279] An exit pupil power calculation module is used to calculate the exit pupil power of the laser terminal based on the second optical power and the entrance pupil loss of the second spatial coupler.

[0280] As can be seen from the above, in this application, the laser terminal exit pupil power can be automatically measured by automatically adjusting the position of the displacement stage and automatically collecting the second optical power. That is, the process of calculating the exit pupil power does not require manual operation, which can improve the efficiency of measuring the exit pupil power.

[0281] In one embodiment of the present application, the device further includes:

[0282] a fourth position control module, configured to control the translation stage to move to a fourth position after completing the optical axis calibration between the laser terminal and the collimator, wherein at the fourth position, the center of the polarization analyzer on the translation stage coincides with the optical axis;

[0283] The polarization state acquisition module is used to acquire the polarization state of the outgoing light measured after the polarization analyzer receives the outgoing light of the laser terminal.

[0284] As can be seen from the above, in the present application, the polarization state of the outgoing light of the laser terminal can be automatically measured by automatically adjusting the position of the displacement stage and automatically collecting the polarization state of the outgoing light. That is, the process of calculating the polarization state of the outgoing light does not require manual operation, which can improve the efficiency of measuring the polarization state of the outgoing light.

[0285] In one embodiment of the present application, the device further includes:

[0286] a fifth position control module, configured to control the translation stage to move to a fifth position after completing the optical axis calibration between the laser terminal and the collimator, wherein at the fifth position, the center of the third spatial coupler on the translation stage coincides with the optical axis;

[0287] The wavelength acquisition module is used to acquire the wavelength of the output light of the laser terminal, wherein the output light wavelength is obtained by measuring the wavelength of the coupling result, and the coupling result is obtained by coupling after the third spatial coupler receives the output light of the laser terminal.

[0288] As can be seen from the above, in the present application, the wavelength of the outgoing light of the laser terminal can be automatically measured by automatically adjusting the position of the displacement stage, that is, the process of measuring the wavelength of the outgoing light does not require manual operation, which can improve the efficiency of measuring the wavelength of the outgoing light.

[0289] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned laser terminal optical axis calibration methods are implemented.

[0290] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the laser terminal optical axis calibration methods in the above embodiments.

[0291] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD) or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0292] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0293] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system, device, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0294] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A laser terminal optical axis calibration method, characterized in that: The method comprises: Obtaining a first centroid position of a first light spot generated in a monitoring camera, wherein the first light spot is generated by a laser emitted by a laser marker and reflected by a first reference prism, the monitoring camera and the laser marker are located on a translation stage, the first reference prism is mounted on a laser terminal to be measured, the laser terminal is mounted on a turntable, and the translation stage is located between the laser terminal and a collimator; The turntable is controlled to rotate until the first centroid position coincides with the position of a preset tracking point, thereby completing the optical axis calibration of the laser terminal and the collimator, wherein the tracking point is: when the distance between the center of the angle cone on the displacement table and the optical axis of the collimator is less than the preset distance, the parallel light emitted by the collimator is reflected by the first reference prism to the centroid position of the light spot formed in the monitoring camera.

2. The method according to claim 1, characterized in that Before obtaining the first centroid position of the first light spot generated in the monitoring camera, the method further includes: Acquire a second centroid position of a second light spot generated in the surveillance camera, wherein the second light spot is generated after the laser emitted by the laser marker is reflected by a second reference prism, and the second reference prism is mounted on the turntable; The turntable is controlled to rotate until the second center of mass position coincides with the position of a preset tracking point.

3. The method according to claim 1, characterized in that After controlling the turntable to rotate until the first center of mass position coincides with the position of the preset tracking point, the method further includes: Controlling the translation stage to move to a first position, wherein at the first position, the device on the translation stage deviates from the optical axis of the collimator; The laser terminal is controlled to track the parallel light emitted by the collimator.

4. The method according to any one of claims 1 to 3, characterized in that After completing the optical axis calibration between the laser terminal and the collimator, the method further includes: Obtaining a first position conversion matrix from the second reference prism to the third reference prism, wherein before the laser terminal is installed on the turntable, the third reference prism is installed at the position where the laser terminal is located, and the second reference prism and the laser terminal are installed on the turntable together; Acquire a second position conversion matrix from the second reference prism to the first reference prism; Based on the first position transformation matrix, the second position transformation matrix, and the first relative posture of the third reference prism relative to the laser terminal, the second relative posture and the third relative posture are calculated, wherein the second relative posture is: the relative posture of the first reference prism relative to the laser terminal, and the third relative posture is: the relative posture of the second reference prism relative to the laser terminal.

5. The method according to any one of claims 1 to 3, characterized in that: After completing the optical axis calibration between the laser terminal and the collimator, the method further includes: Controlling the translation stage to move to a second position, wherein at the second position, the centers of the first spatial coupler and the first spatial optical power meter on the translation stage coincide with the optical axis, and the first spatial optical power meter of the two is close to the laser terminal; Acquire a first optical power of the parallel light emitted by the collimator collected by the first spatial optical power meter; The entrance pupil sensitivity of the laser terminal is calculated based on the first optical power, the entrance pupil diameter and entrance pupil loss of the first spatial coupler, and the exit pupil diameter of the laser terminal.

6. The method according to any one of claims 1 to 3, characterized in that After completing the optical axis calibration between the laser terminal and the collimator, the method further includes: Controlling the translation stage to move to a third position, wherein at the third position, the centers of the second spatial coupler and the second spatial optical power meter on the translation stage coincide with the optical axis, the second spatial optical power meter is close to the collimator, and the aperture of the second spatial coupler is larger than the aperture of the laser terminal; Acquire a second optical power of the output light of the laser terminal collected by the second spatial optical power meter; Based on the second optical power and the entrance pupil loss of the second spatial coupler, the exit pupil power of the laser terminal is calculated.

7. The method according to any one of claims 1 to 3, characterized in that After completing the optical axis calibration between the laser terminal and the collimator, the method further includes: Controlling the translation stage to move to a fourth position, wherein at the fourth position, the center of the polarization analyzer on the translation stage coincides with the optical axis; The polarization state of the outgoing light is obtained by measuring the polarization analyzer after receiving the outgoing light of the laser terminal.

8. The method according to any one of claims 1 to 3, characterized in that After completing the optical axis calibration between the laser terminal and the collimator, the method further includes: controlling the translation stage to move to a fifth position, wherein at the fifth position, the center of the third spatial coupler on the translation stage coincides with the optical axis; The wavelength of the output light of the laser terminal is obtained, wherein the wavelength of the output light is obtained by measuring the wavelength of the coupling result, and the coupling result is obtained by coupling after the third spatial coupler receives the output light of the laser terminal.

9. A laser terminal optical axis calibration system, characterized in that: The system comprises a workbench, a turntable, a displacement table equipped with a monitoring camera, a laser marker and a cone, a laser terminal is installed on the turntable; the displacement table is located between the laser terminal and the collimator; The laser marker is used to emit laser; The monitoring camera is used to send the first centroid position of the first light spot generated in the monitoring camera to the workbench, wherein the first light spot is generated by the laser emitted by the laser marker after being reflected by the first reference prism, and the first reference prism is installed on the laser terminal to be measured; The workbench is used to obtain the first center of mass position; control the turntable to rotate until the first center of mass position coincides with the position of a preset tracking point, thereby completing the optical axis calibration of the laser terminal and the collimator, wherein the tracking point is: when the distance between the center of the angle cone and the optical axis of the collimator is less than the preset distance, the parallel light emitted by the collimator is reflected by the first reference prism to the center of mass of the light spot formed in the monitoring camera.

10. The system according to claim 9, characterized in that A second reference prism is mounted on the turntable; The monitoring camera is also used to send the second centroid position of the second light spot generated in the monitoring camera to the workbench, wherein the second light spot is generated after the laser emitted by the laser marker is reflected by the second reference prism; The workbench is used to obtain the second center of mass position and control the turntable to rotate until the second center of mass position coincides with the position of a preset tracking point.

11. The system according to claim 9, characterized in that The workbench is also used for: Controlling the translation stage to move to a first position, wherein at the first position, the device on the translation stage deviates from the optical axis of the collimator; The laser terminal is controlled to track the parallel light emitted by the collimator.

12. The system according to any one of claims 9 to 11, characterized in that: After completing the optical axis calibration between the laser terminal and the collimator, the workbench is further used for: Obtaining a first position conversion matrix from the second reference prism to the third reference prism, wherein before the laser terminal is installed on the turntable, the third reference prism is installed at the position where the laser terminal is located, and the second reference prism and the laser terminal are installed on the turntable together; Acquire a second position conversion matrix from the second reference prism to the first reference prism; Based on the first position transformation matrix, the second position transformation matrix, and the first relative posture of the third reference prism relative to the laser terminal, the second relative posture and the third relative posture are calculated, wherein the second relative posture is: the relative posture of the first reference prism relative to the laser terminal, and the third relative posture is: the relative posture of the second reference prism relative to the laser terminal.

13. The system according to any one of claims 9 to 11, characterized in that: The displacement platform is also equipped with a first spatial coupler and a first spatial optical power meter. After completing the optical axis calibration of the laser terminal and the collimator, the workbench is also used to: Controlling the translation stage to move to a second position, wherein at the second position, the centers of the first spatial coupler and the first spatial optical power meter on the translation stage coincide with the optical axis, and the first spatial optical power meter of the two is close to the laser terminal; The first spatial optical power meter is used to collect the first optical power of the parallel light emitted by the collimator and send the first optical power to the workbench; The workbench is also used to calculate the entrance pupil sensitivity of the laser terminal based on the first optical power, the entrance pupil diameter and entrance pupil loss of the first spatial coupler, and the exit pupil diameter of the laser terminal.

14. The system according to any one of claims 9 to 11, characterized in that: The displacement platform is also equipped with a second spatial coupler and a second spatial optical power meter. The aperture of the second spatial coupler is larger than the aperture of the laser terminal. After the optical axis calibration of the laser terminal and the collimator is completed, the workbench is also used for: Controlling the translation stage to move to a third position, wherein at the third position, centers of the second spatial coupler and the second spatial optical power meter on the translation stage coincide with the optical axis, and the second spatial optical power meter is close to the collimator; The second spatial optical power meter is used to collect the second optical power of the output light of the laser terminal and send the second optical power to the workbench; The workbench is also used to calculate the exit pupil power of the laser terminal based on the second optical power and the entrance pupil loss of the second spatial coupler.

15. The system according to any one of claims 9 to 11, characterized in that: A polarization analyzer is also installed on the displacement platform. After completing the optical axis calibration between the laser terminal and the collimator, the workbench is also used to: Controlling the translation stage to move to a fourth position, wherein at the fourth position, the center of the polarization analyzer on the translation stage coincides with the optical axis; The polarization analyzer is used for measuring the polarization state of the outgoing light after receiving the outgoing light from the laser terminal, and sending the polarization state of the outgoing light to the workbench.

16. The system according to any one of claims 9 to 11, characterized in that: The displacement platform is also equipped with a third spatial coupler. After the optical axis calibration between the laser terminal and the collimator is completed, the workbench is also used to: controlling the translation stage to move to a fifth position, wherein at the fifth position, the center of the third spatial coupler on the translation stage coincides with the optical axis; The third spatial coupler is used to receive the outgoing light of the laser terminal, and obtain a coupling result after coupling processing on the outgoing light, and send the coupling result to the wavelength meter so that the wavelength meter measures the wavelength of the coupling result to obtain the wavelength of the outgoing light, and sends the outgoing light wavelength to the workbench.

17. A laser terminal optical axis calibration device, characterized in that: The device comprises: A first position acquisition module, used for acquiring a first centroid position of a first light spot generated in a monitoring camera, wherein the first light spot is generated by a laser emitted by a laser marker after being reflected by a first reference prism, the monitoring camera and the laser marker are located on a translation platform, the first reference prism is mounted on a laser terminal to be measured, the laser terminal is mounted on a turntable, and the translation platform is located between the laser terminal and the collimator; The first rotation control module is used to control the rotation of the turntable until the first centroid position coincides with the position of a preset tracking point, thereby completing the optical axis calibration of the laser terminal and the collimator, wherein the tracking point is: when the distance between the center of the angle cone on the displacement table and the optical axis of the collimator is less than the preset distance, the parallel light emitted by the collimator is reflected by the first reference prism to the centroid position of the light spot formed in the monitoring camera.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in any one of claims 1 to 8 are implemented.

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