Photoelectric search range finding system laboratory test method

Abstract

The invention provides a laboratory test method for a photoelectric search ranging system, and relates to the technical field of laser ranging. In the system, when the optical axis of a flyback refrigeration thermal infrared imager coincides with parallel light passing through a large-diameter concave mirror, a target is detected, and a delayed laser emitting process is started according to the position of the target; a laser emission delay time parameter and a laser swing mirror swing amount are set; according to the laser emission delay time and the oscillation amount of the laser oscillating mirror, the laser range finder emits a laser beam, and the laser beam is reflected by the large-diameter concave mirror and irradiates the target and the round hole of the laser photographic paper to form a laser mark; and if the laser mark deviates from the circular hole, parameter adjustment is performed according to the error amount of deviation from the circular hole. The problems that an existing photoelectric search distance measuring system is low in outdoor testing efficiency, and errors cannot be quantitatively tested are solved. The system quantitatively determines the laser irradiation error, corrects the laser irradiation error in real time, improves the debugging efficiency, and ensures that the laser can reach a target every time.

Description

Technical Field

[0001] This document relates to the field of laser ranging technology, and in particular to a laboratory testing method for an optoelectronic search and ranging system. Background Art

[0002] In the photoelectric search and ranging system for three-dimensional multi-target detection under high-speed rotation, the laser rangefinder and the retrace-cooled infrared thermal imager are installed on a servo turntable that rotates at a high speed of 360° / s. The laser optical axis and the infrared optical axis are installed 12.6° apart. After the infrared thermal imager finds the target, it calculates the angle that the turntable needs to rotate when the laser optical axis is aligned with the target, and the angle that the pitch axis needs to be raised according to the position of the target in the image. When the laser optical axis reaches the target, the laser rangefinder is immediately controlled to measure the distance. However, if the test is performed using a real outdoor target, the following problems exist:

[0003] First, there is no guarantee that the laser will hit the target every time.

[0004] Second, if the laser fails to irradiate the target, it is very difficult to determine the deviation.

[0005] The existence of these difficulties leads to low efficiency of outdoor testing and inability to conduct quantitative testing of errors.

[0006] Therefore, there is an urgent need for a test solution for the photoelectric search and ranging system to solve the problem that the outdoor test efficiency of the current photoelectric search and ranging system is low and the error cannot be quantitatively tested. Summary of the invention

[0007] This specification provides a laboratory test method for an optoelectronic search and ranging system, which is used to solve the problem that the outdoor test efficiency of the current optoelectronic search and ranging system is low and the error cannot be quantitatively tested.

[0008] In a first aspect, the present specification provides a laboratory test system for an optoelectronic search and ranging system, comprising: an optoelectronic search and ranging system, a large-diameter concave mirror, a target and laser photographic paper, and an infrared light source;

[0009] The photoelectric search and ranging system includes a retrace cooled infrared thermal imager, a laser rangefinder, a servo control assembly, and a parameter adjustment module. The retrace cooled infrared thermal imager and the laser rangefinder are mounted on the servo control assembly. The optical axis of the laser rangefinder differs from the optical axis of the retrace cooled infrared thermal imager by an angle a. The servo control assembly remains in a constant pitch position, and rotates at a specified speed in azimuth.

[0010] The target and the laser photographic paper are placed at the focal position of the large-diameter concave mirror, and a circular hole is provided in the center of the target and the laser photographic paper; the infrared light emitted by the infrared light source passes through the circular hole and is converted into parallel light by the large-diameter concave mirror; when the laser beam emitted by the laser rangefinder is converged by the large-diameter concave mirror, it is irradiated on the target and the laser photographic paper;

[0011] The infrared light source is used to radiate infrared light, wherein the infrared light passes through the circular hole, irradiates the large-diameter concave mirror, and is converted into parallel light by the large-diameter concave mirror;

[0012] The servo system is used to drive the retrace thermal imager and the laser rangefinder to rotate at high speed;

[0013] The retrace cooled infrared thermal imager is used to detect the target according to the coincidence between its own optical axis and the parallel light beam reflected by the large diameter concave mirror, and to start the delayed laser emission program according to the target position;

[0014] The laser rangefinder is used to emit a laser beam according to a preset laser emission delay time and a laser oscillating mirror swing amount, wherein the laser beam is converged onto a target surface and laser photographic paper through a large-diameter concave mirror to form a laser mark;

[0015] The parameter adjustment module is used to adjust the laser emission delay time parameter and the laser oscillating mirror swing amount according to the error amount of the deviation from the circular hole if the laser mark deviates from the circular hole, so as to ensure that the laser mark coincides with the circular hole.

[0016] In a second aspect, this specification provides a laboratory test method for an optoelectronic search and ranging system, comprising:

[0017] The photoelectric search and ranging system is powered on, and after the retrace-cooled infrared thermal imager is cooled to the point of full cooling, the servo system drives the retrace thermal imager and the laser rangefinder to rotate at high speed, collect infrared images at specified time intervals, and perform target detection on the images;

[0018] When the optical axis of the retrace-cooled infrared thermal imager coincides with the parallel light after passing through the large-diameter concave mirror, the target is detected and the delayed laser firing process is started according to the target position;

[0019] According to the preset laser emission delay time and the swing amount of the laser oscillating mirror, the laser rangefinder emits a laser beam, and the laser beam is reflected by a large-diameter concave mirror and converged on the target and the laser photographic paper to form a laser mark;

[0020] If the laser mark deviates from the circular hole, the parameter adjustment module performs parameter adjustment according to the error amount of the deviation from the circular hole to ensure that the laser mark coincides with the circular hole.

[0021] The beneficial effects of the present invention are as follows:

[0022] This specification provides a laboratory test method for an optoelectronic search and ranging system, in which when the optical axis of a retrace cooled infrared thermal imager coincides with the parallel light after passing through a large diameter concave mirror, the target is detected, and the delayed laser process is started according to the target position; and the laser emission delay time parameters and the laser swing mirror swing amount are set; according to the laser emission delay time and the laser swing mirror swing amount, the laser rangefinder emits a laser beam, wherein the laser beam is reflected by a large diameter concave mirror and irradiates the target and the circular hole of the laser photo paper to form a laser mark; if the laser mark deviates from the circular hole, the parameters are adjusted according to the error amount of the deviation from the circular hole to ensure that the laser mark coincides with the circular hole. The infrared light source of the system forms a point light source through the circular hole on the target plate, and then is converted into parallel light through a large diameter concave mirror, and enters the retrace cooled infrared thermal imager, simulating an infinitely far target in the laboratory, solving the target distance problem. When the laser optical axis is perpendicular to the concave mirror, the emitted laser beam is reflected by the large diameter concave mirror onto the laser photo paper, leaving a laser mark. Through the relative position of the laser mark and the small hole, the accuracy of the laser ranging beam aiming at the target can be observed at a glance. The system quantitatively determines the laser irradiation error and corrects it in real time, which improves the debugging efficiency and ensures that the laser can hit the target every time. The measuring device is simple and the accuracy is visible. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0024] Figure 1 It is a schematic diagram of a laboratory test system for an optoelectronic search and ranging system provided in an embodiment of this specification;

[0025] Figure 2 is a schematic diagram of laser imaging provided in an embodiment of this specification;

[0026] Figure 3 It is a schematic diagram of a laboratory test method for an optoelectronic search and ranging system provided in an embodiment of this specification.

[0027] Reference numerals: 1. Photoelectric search and ranging system 2. Large diameter concave mirror 3. Target and laser photographic paper

[0028] 4. Infrared light source 5. Retrace cooled infrared thermal imager 6. Laser rangefinder 7. Servo control assembly. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of this specification clearer, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and their corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this document.

[0030] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings. Specific embodiment one:

[0032] This embodiment provides a laboratory test system for an optoelectronic search and ranging system. Figure 1 , including: an optoelectronic search and ranging system 1, a large diameter concave mirror 2, a target and laser photographic paper 3, and an infrared light source 4;

[0033] The photoelectric search and ranging system 1 includes a retrace cooled infrared thermal imager 5, a laser rangefinder 6, a servo control assembly 7 and a parameter adjustment module. The retrace cooled infrared thermal imager 5 and the laser rangefinder 6 are mounted on the servo control assembly 7. The optical axis of the laser rangefinder 6 differs from the optical axis of the retrace cooled infrared thermal imager 5 by an angle a. The servo control assembly 7 does not change its pitch position, and rotates at a specified speed v in azimuth.

[0034] The angle a is determined by the internal structure of the photoelectric search and distance measuring system 1, and the specified speed v is determined according to the performance of the photoelectric search and distance measuring system 1;

[0035] Furthermore, the optical path of the system provided in this embodiment is specifically as follows:

[0036] The target and the laser photographic paper 3 are placed at the focal position of the large-diameter concave mirror 2, and a circular hole is provided in the center of the target and the laser photographic paper 3; the infrared light emitted by the infrared light source 4 passes through the circular hole and is converted into parallel light by the large-diameter concave mirror 2; when the laser beam emitted by the laser rangefinder 6 is converged by the large-diameter concave mirror 2, it is irradiated on the target and the laser photographic paper 3;

[0037] The functions of each device are described below:

[0038] The infrared light source 4 is used to radiate infrared light, wherein the infrared light passes through the circular hole and then irradiates the large-diameter concave mirror 2, and is converted into parallel light by the large-diameter concave mirror 2; based on this, an infinitely far target is simulated in the laboratory, solving the target distance problem;

[0039] The servo system 7 is used to drive the retrace thermal imager 5 and the laser rangefinder 6 to rotate at high speed;

[0040] The retrace cooled infrared thermal imager 5 is used to detect the target according to the coincidence between its own optical axis and the parallel light beam reflected by the large diameter concave mirror 2, and start the delayed laser emission program according to the target position;

[0041] The laser rangefinder 6 is used to emit a laser beam according to a preset laser emission delay time and a laser oscillating mirror swing amount, wherein the laser beam is converged onto a target surface and a laser photographic paper 3 through a large-diameter concave mirror 2 to form a laser mark;

[0042] The parameter adjustment module is used to adjust the laser emission delay time parameter and the laser oscillating mirror swing amount according to the error amount of the deviation from the circular hole if the laser mark deviates from the circular hole, so as to ensure that the laser mark coincides with the circular hole.

[0043] Further, the functions of each component are described in detail below:

[0044] The diameter of the large-diameter concave mirror 2 is determined by the structures of the flyback-cooled infrared thermal imager 5 and the laser rangefinder 6, so as to ensure that the flyback-cooled infrared thermal imager 5 can smoothly receive the laser reflected by the large-diameter concave mirror 2, and the large-diameter concave mirror 2 can smoothly receive the laser emitted by the laser rangefinder 6;

[0045] Specifically, the diameter of the large-diameter concave mirror 2 in this embodiment is not less than 1 meter.

[0046] Furthermore, the retrace cooled infrared thermal imager 5 is specifically used for:

[0047] When the optical axis of the retrace cooled infrared thermal imager 5 coincides with the parallel light after passing through the large diameter concave mirror 2, the target is detected and the delayed laser firing process is started according to the target position;

[0048] When the preset laser emission delay time is reached, the optical axis of the laser rangefinder 6 coincides with the parallel light reflected by the large-diameter concave mirror 2 .

[0049] The laser emission delay is determined by the internal software of the photoelectric search and ranging system 1 .

[0050] Furthermore, the photoelectric search and ranging system is always in a high-speed operation state. When a deviation occurs, in order to perform real-time calibration, this embodiment provides a technical solution for real-time adjustment using a parameter adjustment module in the internal software and a laser rangefinder, specifically:

[0051] The parameter adjustment module adjusts the laser emission delay time parameters and the laser oscillating mirror swing amount by measuring the deviation direction and distance between the laser mark and the circular hole;

[0052] The laser rangefinder 6 emits a laser beam according to the adjusted laser emission delay time parameters and the swing amount of the laser swing mirror, so that the laser mark is hit on the circular hole.

[0053] Furthermore, if the laser mark coincides with the circular hole, it indicates that there is no deviation in the laser irradiation target position, and the retrace-cooled infrared thermal imager does not need to be adjusted.

[0054] After the test, the system is put into field test and used directly.

[0055] In summary, in this embodiment, when the optical axis of the retrace cooled infrared thermal imager coincides with the parallel light after passing through the large diameter concave mirror, the target is detected, and the delayed laser process is started according to the target position; and the laser emission delay time parameters and the laser swing mirror swing amount are set; according to the laser emission delay time and the laser swing mirror swing amount, the laser rangefinder emits a laser beam, wherein the laser beam is reflected by the large diameter concave mirror, and irradiates the target and the circular hole of the laser photo paper to form a laser mark; if the laser mark deviates from the circular hole, the parameters are adjusted according to the error amount of the deviation from the circular hole to ensure that the laser mark coincides with the circular hole. The infrared light source forms a point light source through the circular hole on the target plate, and then is converted into parallel light through the large diameter concave mirror, and enters the retrace cooled infrared thermal imager, simulating an infinitely far target in the laboratory, solving the target distance problem. When the laser optical axis is perpendicular to the concave mirror, the emitted laser beam is reflected by the large diameter concave mirror onto the laser photo paper, leaving a laser mark. Through the relative position of the laser mark and the small hole, the accuracy of the laser ranging beam aiming at the target can be observed at a glance. The system quantitatively determines the laser irradiation error and corrects it in real time, which improves the debugging efficiency and ensures that the laser can hit the target every time. The measuring device is simple and the accuracy is visible. Specific embodiment 2:

[0057] This embodiment provides a laboratory test method for an optoelectronic search and ranging system. Figure 3 ,include:

[0058] Step 302, the photoelectric search and ranging system 1 is powered on, and after the retrace cooling infrared thermal imager 5 is cooled to the right position, the servo system 7 drives the retrace thermal imager 5 and the laser rangefinder 6 to rotate at high speed, collect infrared images at a specified time interval, and perform target detection on the images;

[0059] Step 304: When the optical axis of the retrace cooled infrared thermal imager 5 coincides with the parallel light after passing through the large diameter concave mirror 2, the target is detected, and the delayed laser process is started according to the target position;

[0060] Step 306: According to the laser emission delay time and the swing amount of the laser oscillating mirror, the laser rangefinder 6 emits a laser beam, wherein the laser beam is reflected by the large-diameter concave mirror 2 and irradiates the target and the circular hole of the laser photo paper 3 to form a laser mark;

[0061] It should be noted that after the retrace-cooled infrared thermal imager 5 starts the delayed laser firing process, the preset laser emission delay time is reached, and the optical axis of the laser rangefinder 6 coincides with the parallel light reflected by the large-diameter concave mirror 2. This is the time for the laser rangefinder 6 to emit the laser beam.

[0062] The laser emission delay time and the laser oscillating mirror swing amount are pre-set. When the laser mark deviates from the circular hole, the internal parameter adjustment module will adjust and update the laser emission delay time and the laser oscillating mirror swing amount to play the role of adjustment and calibration;

[0063] Step 308: If the laser mark deviates from the circular hole, the parameter adjustment module performs parameter adjustment according to the error amount of the deviation from the circular hole to ensure that the laser mark coincides with the circular hole.

[0064] Specifically, a specific implementation of step 308 may be:

[0065] S81, a parameter adjustment module, which adjusts the laser emission delay time parameter and the laser oscillating mirror swing amount by measuring the deviation direction and distance between the laser mark and the circular hole;

[0066] S82, according to the adjusted laser emission delay time parameters and the swing amount of the laser oscillating mirror, the laser rangefinder emits a laser beam so that the laser mark is hit on the circular hole.

[0067] Furthermore, after executing step 308, the method further includes:

[0068] If the laser mark coincides with the small hole, it means that there is no deviation in the laser irradiation target position. After the test, the system is put into field test and used directly.

[0069] In summary, in this embodiment, when the optical axis of the retrace cooled infrared thermal imager coincides with the parallel light after passing through the large diameter concave mirror, the target is detected, and the delayed laser process is started according to the target position; and the laser emission delay time parameters and the laser swing mirror swing amount are set; according to the laser emission delay time and the laser swing mirror swing amount, the laser rangefinder emits a laser beam, wherein the laser beam is reflected by the large diameter concave mirror, and irradiates the target and the circular hole of the laser photo paper to form a laser mark; if the laser mark deviates from the circular hole, the parameters are adjusted according to the error amount of the deviation from the circular hole to ensure that the laser mark coincides with the circular hole. The infrared light source forms a point light source through the circular hole on the target plate, and then is converted into parallel light through the large diameter concave mirror, and enters the retrace cooled infrared thermal imager, simulating an infinitely far target in the laboratory, solving the target distance problem. When the laser optical axis is perpendicular to the concave mirror, the emitted laser beam is reflected by the large diameter concave mirror onto the laser photo paper, leaving a laser mark. Through the relative position of the laser mark and the small hole, the accuracy of the laser ranging beam aiming at the target can be observed at a glance. The system quantitatively determines the laser irradiation error and corrects it in real time, which improves the debugging efficiency and ensures that the laser can hit the target every time. The measuring device is simple and the accuracy is visible. Specific embodiment three:

[0071] This embodiment provides a laboratory test system and method for an optoelectronic search and ranging system. Figure 1 The system includes: an optoelectronic search and ranging system 1, a 1-meter diameter concave mirror 2, a target and laser photographic paper 3, and an infrared light source 4.

[0072] The photoelectric search and ranging system 1 is composed of a flyback cooled infrared thermal imager 5, a laser rangefinder 6 and a servo control assembly 7. The flyback cooled infrared thermal imager 5 and the laser rangefinder 6 are mounted on the servo control assembly 7. The optical axis of the laser rangefinder 6 differs from the optical axis of the flyback cooled infrared thermal imager 5 by 12.6°. The pitch position of the servo control assembly 7 remains unchanged, and the azimuth rotates at a high speed of 1 revolution per second.

[0073] The target and laser photo paper 3 are placed at the focal position of the 1-meter diameter concave mirror 2. There is a small hole in the center of the target and laser photo paper 3. The infrared light emitted by the infrared light source 4 passes through the small hole and irradiates the 1-meter diameter concave mirror 2, and is converted into parallel light by the concave mirror (see Figure 1 middle red line).

[0074] The photoelectric search and ranging system 1 is powered on, and after the retrace infrared thermal imager 5 is cooled to the right position, the servo system 7 starts to rotate at high speed with the retrace thermal imager 5 and the laser rangefinder 6, and collects an infrared image every 10ms, and then performs target detection on the image.

[0075] When the optical axis of the infrared thermal imager 5 coincides with the parallel light after passing through the 1-meter diameter concave mirror 2, the target is detected and the delayed laser process is started according to the target position. About 35ms later, the optical axis of the laser rangefinder 6 coincides with the parallel light after passing through the concave mirror 2 with a diameter greater than 1 meter, and the laser is emitted at this time. Figure 1 The blue line in the middle is reflected by a 1-meter diameter concave mirror 2 and shines on the target and the small hole of the laser photo paper 3, forming a black mark.

[0076] When the black mark coincides with the small hole, it indicates that there is no deviation in the target position of laser irradiation. When the black mark is not on the small hole, the parameters can be debugged according to the error amount of deviation from the small hole to ensure that the black mark coincides with the small hole.

[0077] In laboratory testing, the first problem we face is that the target is not far enough away. The optoelectronic search and ranging system requires the target to be more than 15km away, and it is impossible to place such a distant target indoors.

[0078] It should be noted that this embodiment uses a concave mirror with a diameter of 1 meter, places the target and laser photographic paper at the focus of the concave mirror, and the infrared light source forms a point light source through a small hole on the target. The infrared light of the point light source is converted into parallel light after passing through the concave mirror, simulating a target at infinite distance in the test room, thus solving the target distance problem.

[0079] This embodiment uses common laser photo paper, which is a special material that can sense laser. When the laser beam irradiates the photo paper, a black mark will appear at the irradiated position. Figure 1 The blue line in the figure is the path of the laser beam. The laser beam is focused on the laser photo paper on the target surface through a concave mirror to form a laser mark, such as Figure 2 By measuring the deviation direction and distance between the laser mark and the small hole, the laser emission delay time parameter and the laser oscillating mirror swing amount can be quantitatively adjusted, so that the laser mark can be placed on the small hole more accurately.

[0080] Furthermore, this embodiment proposes a laboratory test method for an optoelectronic search and ranging system, which includes: an infrared light source passes through a small hole on a target plate to form a point light source, and then is converted into parallel light through a one-meter diameter concave mirror, and enters a retrace infrared thermal imager, simulating an infinitely distant target in the laboratory, thereby solving the target distance problem. When the laser optical axis is perpendicular to the concave mirror, the emitted light beam is reflected by the concave mirror onto the laser photographic paper, leaving a laser mark, and the accuracy of the laser ranging beam aligned with the target can be clearly observed through the relative position of the laser mark and the small hole.

[0081] The present embodiment provides a laboratory test method for an optoelectronic search and ranging system, which is used in a system that uses infrared and laser to perform three-dimensional measurement of a target under high-speed rotation, and has the characteristics of a simple measuring device, and visible and measurable accuracy.

[0082] In summary, in this embodiment, when the optical axis of the retrace cooled infrared thermal imager coincides with the parallel light after passing through the large diameter concave mirror, the target is detected, and the delayed laser process is started according to the target position; and the laser emission delay time parameters and the laser swing mirror swing amount are set; according to the laser emission delay time and the laser swing mirror swing amount, the laser rangefinder emits a laser beam, wherein the laser beam is reflected by the large diameter concave mirror, and irradiates the target and the circular hole of the laser photo paper to form a laser mark; if the laser mark deviates from the circular hole, the parameters are adjusted according to the error amount of the deviation from the circular hole to ensure that the laser mark coincides with the circular hole. The infrared light source of this system forms a point light source through the circular hole on the target plate, and then is converted into parallel light through the large diameter concave mirror, and enters the retrace cooled infrared thermal imager, simulating an infinitely far target in the laboratory, solving the target distance problem. When the laser optical axis is perpendicular to the concave mirror, the emitted laser beam is reflected by the large diameter concave mirror onto the laser photo paper, leaving a laser mark. Through the relative position of the laser mark and the small hole, the accuracy of the laser ranging beam aiming at the target can be observed at a glance. The system quantitatively determines the laser irradiation error and corrects it in real time, which improves the debugging efficiency and ensures that the laser can hit the target every time. The measuring device is simple and the accuracy is visible.

[0083] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. For those skilled in the art, this specification may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included in the protection scope of this specification.

Claims

1. A laboratory test system for an optoelectronic search and ranging system, characterized in that: include: Photoelectric search and ranging system (1), large diameter concave mirror (2), target and laser photographic paper (3), infrared light source (4); The photoelectric search and distance measurement system (1) comprises a retrace cooled infrared thermal imager (5), a laser rangefinder (6), a servo control assembly (7), and a parameter adjustment module, wherein the retrace cooled infrared thermal imager (5) and the laser rangefinder (6) are mounted on the servo control assembly (7), the optical axis of the laser rangefinder (6) differs from the optical axis of the retrace cooled infrared thermal imager (5) by an angle a, the elevation position of the servo control assembly (7) remains unchanged, and the azimuth rotates at a specified speed; The target and the laser photographic paper (3) are placed at the focal position of the large-diameter concave mirror (2), and a circular hole is provided in the center of the target and the laser photographic paper (3); the infrared light emitted by the infrared light source (4) passes through the circular hole and is converted into parallel light by the large-diameter concave mirror (2); when the laser beam emitted by the laser rangefinder (6) is converged by the large-diameter concave mirror (2), it is irradiated on the target and the laser photographic paper (3); The infrared light source (4) is used to radiate infrared light, wherein the infrared light passes through the circular hole and is irradiated onto the large-diameter concave mirror (2), and is converted into parallel light by the large-diameter concave mirror (2); The servo system (7) is used to drive the retrace thermal imager (5) and the laser rangefinder (6) to rotate at high speed; The retrace-cooled infrared thermal imager (5) is used to detect the target based on the overlap between its own optical axis and the parallel light beam reflected by the large-diameter concave mirror (2), and to start a delayed laser emission program based on the target position; The laser rangefinder (6) is used to emit a laser beam according to the laser emission delay time and the swing amount of the laser swing mirror, wherein the laser beam is converged onto the target surface and the laser photographic paper (3) through the large-diameter concave mirror (2) to form a laser mark; The parameter adjustment module is used to adjust the laser emission delay time parameter and the laser oscillating mirror swing amount according to the error amount of the deviation from the circular hole if the laser mark deviates from the circular hole, so as to ensure that the laser mark coincides with the circular hole.

2. The system according to claim 1, characterized in that The diameter of the large-diameter concave mirror (2) is not less than 1 meter.

3. The system according to claim 2, characterized in that The retrace cooled infrared thermal imager (5) is specifically used for: When the optical axis of the retrace-cooled infrared thermal imager (5) coincides with the parallel light after passing through the large-diameter concave mirror (2), the target is detected, and a delayed laser firing process is started according to the target position.

4. The system according to claim 3, characterized in that When the preset laser emission delay time is reached, the optical axis of the laser rangefinder (6) coincides with the parallel light reflected by the large-diameter concave mirror (2).

5. The system according to claim 4, characterized in that The parameter adjustment module is specifically used for: By measuring the deviation direction and distance between the laser mark and the circular hole, the laser emission delay time parameters and the laser oscillating mirror swing amount are adjusted; The laser rangefinder (6) is also specifically used for: According to the adjusted laser emission delay time parameters and the swing amount of the laser oscillating mirror, the laser beam is emitted to make the laser mark on the circular hole.

6. The system according to claim 5, characterized in that If the laser mark coincides with the circular hole, it indicates that there is no deviation in the target position of laser irradiation and no adjustment is required.

7. A laboratory test method for an optoelectronic search and ranging system, applied to the system according to any one of claims 1 to 6, characterized in that: include: The photoelectric search and distance measuring system (1) is powered on, and after the retrace cooling infrared thermal imager (5) is cooled to the right position, the servo system (7) drives the retrace thermal imager (5) and the laser rangefinder (6) to rotate at a high speed, collects infrared images at a specified time interval, and performs target detection on the images; When the optical axis of the retrace-cooled infrared thermal imager (5) coincides with the parallel light after passing through the large-diameter concave mirror (2), the target is detected, and the delayed laser process is started according to the target position; According to the laser emission delay time and the swing amount of the laser swing mirror, the laser rangefinder (6) emits a laser beam, and the laser beam is converged onto the target and the laser photographic paper (3) through a large-diameter concave mirror (2) to form a laser mark; If the laser mark deviates from the circular hole, the parameter adjustment module performs parameter adjustment according to the error amount of the deviation from the circular hole to ensure that the laser mark coincides with the circular hole.

8. The method according to claim 7, characterized in that If the laser mark deviates from the circular hole, the parameter adjustment module performs parameter adjustment according to the error amount of the deviation from the circular hole to ensure that the laser mark coincides with the circular hole, including: The parameter adjustment module adjusts the laser emission delay time parameters and the laser oscillating mirror swing amount by measuring the deviation direction and distance between the laser mark and the circular hole; The laser rangefinder (6) emits a laser beam according to the adjusted laser emission delay time parameter and the swing amount of the laser swing mirror, so that the laser mark is impressed on the circular hole.

9. The method according to claim 8, characterized in that If the laser mark coincides with the pinhole, it indicates that there is no deviation in the target position of the laser irradiation.

10. The method according to claim 9, characterized in that When the preset laser emission delay time is reached, the optical axis of the laser rangefinder (6) coincides with the parallel light reflected by the large-diameter concave mirror (2).

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