Position debugging method for double optical axes and motion axis

Abstract

The invention provides a double optical axis and motion axis position debugging method, and belongs to the field of optical axis debugging. The problem that in a system composed of a plurality of optical devices, all optical axes have certain included angles and are not easy to debug is solved. The method comprises the following steps: using a basic test part of an autocollimator, adjusting the direction of a test axis through a pentaprism to realize autocollimation with a pitching / azimuth axial surface of a bearing turntable, extracting the direction of a mechanical axis into the direction of an optical target, and using an infrared target source parallel to the optical axis of the autocollimator to complete the output of the infrared target and the test of laser. The autocollimator and the infrared target source are combined in space in a beam combiner mode, and optical axis superposition is achieved. After the rotary shaft of the rotary table is extracted, the direction of the pentaprism is switched, and the direction of the optical axes of the laser designator module and the multispectral observation and aiming module is tested. Finally, space vector calculation is completed through software to obtain the included angle between the measured optical axis and the rotary table rotating shaft. The method is mainly used for multi-device optical axis debugging.

Description

Technical Field

[0001] The invention belongs to the field of optical axis debugging, and in particular relates to a method for debugging the positions of dual optical axes and a motion axis. Background Art

[0002] Common integrated optical platforms for inspection and strike all have coaxial or co-directional outputs, that is, the optical axes of different optical devices coincide or are parallel to each other, and are integrally installed on bearing mechanical structures such as turntables, pan / tilt tables, and servo mechanisms. Therefore, when debugging and testing its optical system, it is possible to use traditional large-aperture reflective light pipes as the basic structure of optical integrated test equipment for debugging / testing. The test system aperture can cover all distributed optical system entrance pupils, so that it can receive optical test targets of multiple working bands projected by the test system, and can receive optical signals such as laser indications emitted by the device under test.

[0003] However, for some needs such as expanding the field of view, stereoscopic vision, avoiding occlusion and interference, when the optical axes of the components inside the optical system have an angle, when multiple optical systems have an angle, and are not perpendicular (or parallel) to the motion axis of the supporting mechanical structure, the use of traditional single test equipment will not be able to provide test simulation images for the optical equipment.

[0004] To sum up, a dual optical axis and motion axis position debugging method is proposed. Summary of the invention

[0005] In view of this, the present invention aims to propose a dual optical axis and motion axis position adjustment method to solve the problem that in a system composed of multiple optical devices, each optical axis has a certain angle and is not easy to adjust.

[0006] To achieve the above object, the present invention adopts the following technical solution: a method for adjusting the position of a dual optical axis and a motion axis is provided, comprising the following steps:

[0007] S1, connect the device under test 1 and the device under test 2 to the left and right sides of the turntable respectively;

[0008] S2, fixing the azimuth plane reflector on the upper surface of the turntable, wherein the extended axis of the azimuth axis of the turntable passes through and is perpendicular to the azimuth plane reflector;

[0009] S3, setting an autocollimator 1 along the normal direction of the entrance pupil of the device under test 1, the light emitted by the autocollimator 1 passes through a pentaprism 1 and then irradiates the roof prism, and then passes through a reflector group 1 and irradiates the azimuth reflector, adjusting the reflector group 1 so that the light reflected back by the azimuth reflector irradiates the field of view of the autocollimator 1 and approaches the center position, and locking the reflector group 1;

[0010] S4, rotating the azimuth axis of the turntable to collect the motion trajectory of the returned image within the field of view of the autocollimator;

[0011] S5, rotating the pentaprism 1, so that the light emitted by the autocollimator 1 passes through the reflector group 2 and then irradiates the end reflector 1 arranged on the end face of the pitch axis, and the end reflector 1 reflects the light back to the autocollimator 1, rotating the pitch axis, and collecting the motion trajectory of the returned image in the field of view of the autocollimator 1;

[0012] S6, after the steps S4 and S5, establishing the positional relationship between the pitch axis and the azimuth axis of the turntable in the autocollimator 1 by calculation;

[0013] S7, the second autocollimator is located in the direction of the entrance pupil normal of the second device under test, and after debugging, the light emitted by the second autocollimator passes through the second pentaprism, the roof prism and the first reflector group to the azimuth reflector, the light reflected back by the azimuth reflector irradiates the field of view of the second autocollimator and approaches the center position, and the other light passes through the roof prism and the first pentaprism and irradiates the field of view of the first autocollimator and approaches the center position, so that the measurement data of the first autocollimator and the second autocollimator are unified in one coordinate system;

[0014] S8, rotating the second prism to the direction of the second device under test, the second device under test emits a laser beam to the second autocollimator, forming a laser spot in the field of view of the second autocollimator, the turntable rotates in a certain range of pitch and range to form a trajectory, calculates the center of gravity of the spot, and uses the center of gravity to calculate the angle with the optical axis of the autocollimator, that is, establishes the positional relationship between the second autocollimator and the second device under test;

[0015] S9, rotating prism 1, so that the light of autocollimator 1 and the light of external infrared light tube form parallel light after passing through the beam combiner, the light of infrared light tube is projected into device 1 under test, the output image of the module under test is collected, and the position relationship between the optical axis of the projected infrared light and the optical axis of device 1 under test is calculated;

[0016] S10. Establish a spatial relationship between the first device under test and the second device under test through the mutual relationship obtained from S6 to S9, and adjust them respectively to achieve the designed positional relationship.

[0017] Furthermore, the position calculation formulas of S1 to S9 relative to the autocollimator 1 and the autocollimator 2 are:

[0018]

[0019]

[0020] Where: (θ1, θ2) is the angle between the autocollimator optical axis and the measured optical axis;

[0021] a1 is the distance from the center of the field of view in the pitch direction;

[0022] a2 is the horizontal distance from the center of the field of view.

[0023] Furthermore, the first device under test is a multi-spectral optical sighting module, and the second test device is a laser pointer.

[0024] Furthermore, the laser emitted by the second device under test passes through the attenuation component and then irradiates the second autocollimator.

[0025] Furthermore, the attenuation component includes a reflective attenuation plate and an absorption pool. The reflective attenuation plate reflects a part of the laser line to the absorption pool, and the other part of the light passes through the reflective attenuation plate and is emitted into the second autocollimator.

[0026] Furthermore, the absorption tank is provided with a cooling device.

[0027] Furthermore, in S2, S4, S5 and S7, there is an angle between the light of autocollimator 1 or autocollimator 2 and the returned light, and an image recording method is used to record a video of a small displacement of the image, collect the sub-pixel coordinates of the center of the returned image, and fit the center point of the returned image analyzed in multiple frames of images to form a trajectory circle. The center of the trajectory circle points to the direction of the error vector and the residual error γ is calculated by the following formula.

[0028]

[0029] Where: R is the radius of the trajectory element; F is the focal length of the autocollimator used.

[0030] Furthermore, the reflector group 1 includes two reflectors, and the reflector group 2 includes two reflectors.

[0031] Furthermore, an end face reflector 2 is provided at one end of the pitch axis close to the device under test 2. After the pentaprism 2 is adjusted, the light emitted by the autocollimator 2 is irradiated to the end face reflector 2 through the reflector group 3, and the light is returned to the autocollimator 2 for verifying the position of the pitch axis in S5 and S6.

[0032] Furthermore, the reflector group three includes two reflectors.

[0033] Beneficial effects:

[0034] 1. A rotating pentaprism is used as the structure for optical axis steering: by taking the normal direction of one working surface of the pentaprism as the axis and rotating the direction of the other working surface, the same autocollimator can complete the self-collimation of the pitch axis table and the azimuth axis table respectively, and due to the characteristics of the pentaprism, rotating the pentaprism will not introduce new errors.

[0035] 2. Use the autocollimation method to establish the relationship between the optical axis and the mechanical axis: The reflector can be installed on the end face of the turntable through the tooling, and the tooling and the rotating turntable end face can be adjusted to find the state of the reflector and the autocollimator that will not be destroyed by the rotation of the table. In this state, the axis of the measured axis is parallel to the normal direction of the reflector and the optical axis of the autocollimator. This method can be used to convert the mechanical axis into an optical axis for measurement, and it is not affected by the state of the perpendicularity between the turntable bearing surface and its rotation axis.

[0036] 3. Eliminate the residual error of self-collimation: During self-collimation, the software records the return image video, analyzes and calculates the remaining small displacement of the return image center, fits and calculates the residual error amount and offset direction, forms a correction vector, and substitutes the correction vector into the subsequent optical axis pointing calculation to improve the final measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0038] Figure 1 It is a schematic flow chart of a method for adjusting the position of a dual optical axis and a motion axis according to the present invention;

[0039] Figure 2 It is an installation layout diagram of a dual optical axis and motion axis position debugging method according to the present invention;

[0040] Figure 3 It is a schematic diagram of the other side of a dual optical axis and motion axis position debugging method according to the present invention;

[0041] Figure 4 A schematic diagram of the center of the image returned within the field of view of the autocollimator of the dual optical axis and motion axis position debugging method of the present invention;

[0042] Figure 5 A schematic diagram of the self-collimation principle diagram of a dual optical axis and motion axis position debugging method according to the present invention;

[0043] Figure 6 It is a schematic diagram of the image effect of the self-collimation state and the image effect of the non-self-collimation state of the dual optical axis and motion axis position debugging method of the present invention;

[0044] Figure 7 The present invention is a schematic diagram of the structure of the software interface of the dual optical axis and motion axis position debugging method.

[0045] In the figure: azimuth reflector 1; reflector group 1 2; roof prism 3; pentaprism 1 4; autocollimator 1 5; reflector group 2 6; end reflector 1 7; beam combiner 8; infrared light tube 9; device under test 1 10; autocollimator 2 11; pentaprism 2 12; reflector group 3 13; reflective attenuation plate 14; device under test 2 15; reflector 2 16; absorption cell 17. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0047] It should be noted that the descriptions of the present invention regarding directions such as "left", "right", "left side", "right side", "upper", "lower", "top", and "bottom" are all defined based on the relationship between the orientations or positions shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure must be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention. In the description of the present invention, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0048] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] Referring to the accompanying drawings, this embodiment is described, providing a method for adjusting the position of a dual optical axis and a motion axis, comprising the following steps:

[0050] S1, connecting the device under test 10 and the device under test 15 to the left and right sides of the turntable respectively;

[0051] S2, fixing the azimuth plane reflector 1 on the upper surface of the turntable, wherein the extended axis of the azimuth axis of the turntable passes through and is perpendicular to the azimuth plane reflector 1;

[0052] S3, an autocollimator 5 is arranged along the normal direction of the entrance pupil of the device under test 10, the light emitted by the autocollimator 5 passes through the pentaprism 4 and then irradiates the roof prism 3, and then passes through the reflector group 2 and irradiates the azimuth reflector 1, the reflector group 2 is adjusted so that the light reflected back by the azimuth reflector 1 irradiates the field of view of the autocollimator 5 and approaches the center position, and the reflector group 2 is locked;

[0053] S4, rotating the azimuth axis of the turntable to collect the motion trajectory of the returned image within the field of view of the autocollimator;

[0054] S5, rotate the pentaprism 4, so that the light emitted by the autocollimator 5 passes through the reflector group 26 and then irradiates the end reflector 7 arranged on the end face of the pitch axis, and the end reflector 7 reflects the light back to the autocollimator 5, rotate the pitch axis, and collect the motion trajectory of the returned image in the field of view of the autocollimator 5;

[0055] S6, after the steps S4 and S5, establishing the positional relationship between the pitch axis and the azimuth axis of the turntable in the autocollimator 5 by calculation;

[0056] S7, the autocollimator 11 is located in the direction of the entrance pupil normal of the device 15 under test, and after debugging, the autocollimator 11 emits light through the pentaprism 12, the roof prism 3 and the reflector group 2 to the azimuth reflector 1, and the light reflected back by the azimuth reflector 1 irradiates the field of view of the autocollimator 11 and approaches the center position, and the other light irradiates the field of view of the autocollimator 5 and approaches the center position after passing through the roof prism 3 and the pentaprism 4, so that the measurement data of the autocollimator 5 and the autocollimator 11 are unified in one coordinate system;

[0057] S8, rotating the prism 2 to the direction of the device 2 under test 15, the device 2 under test 15 emits a laser beam to the autocollimator 2 11, forming a laser spot in the field of view of the autocollimator 2 11, the turntable rotates in a certain range of pitch and range to form a trajectory, calculates the center of gravity of the spot, and uses the center of gravity to calculate the angle with the optical axis of the autocollimator, that is, establishes the positional relationship between the autocollimator 2 11 and the device 2 under test 15;

[0058] S9, rotate the prism 1, so that the light of the autocollimator 5 and the light of the external infrared light tube 9 form parallel light after passing through the beam combiner 8, and the light of the infrared light tube 9 is projected into the device under test 10, collect the output image of the module under test, and calculate the position relationship between the optical axis of the projected infrared light and the optical axis of the device under test 10;

[0059] S10. Establish the spatial relationship between the first device under test 10 and the second device under test 15 through the mutual relationship obtained from S6 to S9, and adjust them respectively to achieve the designed positional relationship.

[0060] The azimuth plane reflector 1 is mounted on a supporting frame provided with the measuring equipment. The supporting frame is connected to the azimuth circumferential platform to be measured. The supporting frame has the functions of fine-tuning and locking. The normal direction of the azimuth plane reflector 1 is adjusted by fine-tuning the supporting frame.

[0061] Set up the device 10 and the device 2 15 on the turntable, switch the direction of the pentaprism 4 to the autocollimation state, adjust the bracket of the azimuth reflector 1 so that the return image appears at a position close to the center of the field of view of the autocollimator, and lock it after the adjustment is completed;

[0062] Rotate the azimuth axis, collect the motion trajectory of the return image within the field of view of the autocollimator, and complete the vector calculation through the supporting software.

[0063] When the system measures the azimuth axis and the pitch axis, the measurement switch is completed through the prism module. The prism module includes a pentaprism 4 and a rotation mechanism. When the light-emitting surface of the prism module turns to the beam splitter / reflector group, the direction of the turntable azimuth axis can be measured. When the prism turns to the image rotating mirror group, the device completes the measurement of the pitch axis.

[0064] Install the pitch axis reflector and the matching bracket on the pitch axis of the turntable of the device under test, and then complete the return image acquisition and vector calculation in the same way as measuring the azimuth axis.

[0065] At this point, the measuring device has established a relationship with the turntable pitch / azimuth axis in the same autocollimator coordinate system, that is, in the autocollimator coordinate system, the directions of the pitch axis and the azimuth axis are known, and the directions are obtained as follows:

[0066] In this embodiment, the position calculation formulas of S1 to S9 relative to the autocollimator 1 5 and the autocollimator 2 11 are:

[0067]

[0068]

[0069] Where: (θ1, θ2) is the angle between the autocollimator optical axis and the measured optical axis;

[0070] a1 is the distance from the center of the field of view in the pitch direction;

[0071] a2 is the horizontal distance from the center of the field of view.

[0072] Since the internal coordinate system OX of the measuring equipment is not necessarily parallel to the azimuth axis of the turntable, after the azimuth reflector 1 is adjusted, the center of the returned image may not be located at the center of the field of view of the autocollimator, that is, it may exist at position A. The distance from point A to the center of the field of view in the horizontal direction is a2, and the distance in the pitch direction is a1. At this time, the angle between the optical axis of the autocollimator and the azimuth axis of the turntable is (θ1, θ2). At this time, it can be calculated by the formula.

[0073] The measured device 10 and the measured device 2 15 both use the same method to establish a spatial relationship with the turntable dual axis. At the same time, because the same reflector and optical path are used when measuring the azimuth axis, the two modules can establish a connection between the internal coordinate systems of the autocollimator 1 5 and the autocollimator 2 11 through the unique and common azimuth axis as the intermediate structure, namely the roof prism 3, the reflector group 1 2 and the azimuth plane reflector 1, so that the measurement data of the autocollimator 1 5 and the autocollimator 2 11 are unified in one coordinate system.

[0074] In this embodiment, the device under test 10 is a multi-spectral optical sighting module, and the test device 2 is a laser pointer.

[0075] In this embodiment, the laser emitted by the second device under test 15 passes through an attenuation component and then irradiates the second autocollimator 11 .

[0076] In this embodiment, the attenuation component includes a reflective attenuation plate 14 and an absorption pool 17. The reflective attenuation plate 14 reflects a portion of the laser light into the absorption pool 17, and another portion of the light passes through the reflective attenuation plate 14 and is emitted into the autocollimator 2 11.

[0077] In this embodiment, the absorption tank 17 is provided with a cooling device.

[0078] In this embodiment, in S2, S4, S5 and S7, there is an angle between the light of the autocollimator 1 5 or the autocollimator 2 11 and the returned light, and the image recording method is used to record the video of the slight displacement of the image, collect the sub-pixel coordinates of the center of the returned image, and fit the center point of the returned image analyzed in multiple frames of images to form a trajectory circle. The center of the trajectory circle points to the direction of the error vector and the residual error γ is calculated by the following formula.

[0079]

[0080] Where: R is the radius of the trajectory element; F is the focal length of the autocollimator used.

[0081] When a certain autocollimation operation is completed, the optical axis of the autocollimator cannot be perfectly perpendicular to the return surface, and there is a residual error. Further debugging cannot completely eliminate the error, but it will greatly increase the workload. By reducing the error through image analysis, the final measurement accuracy can be improved under the premise of controlling the workload. The method is to first use the software to record the video of the autocollimation return image with the rotation of the reflector, and then use the image algorithm integrated in the software to analyze the sub-pixel coordinates of the center of the cross-shaped image in each frame of the image, and fit the center point of the return image analyzed in multiple frames of images to form a trajectory circle. The direction of the center of the trajectory circle is the direction of the error vector, and it is calculated by the above formula.

[0082] like Figure 4 As shown, in the case of self-collimation in the pitch direction, the center of the reflected image may exist at point B.

[0083] In order to complete the measurement of the laser pointing of the device under test 215, the light input end of the pentaprism 212 needs to be pointed in the direction of the laser output. At this time, the autocollimator 211 receives the attenuated laser beam and forms a laser spot in the field of view of the autocollimator 211. The system calculates the center of gravity of the spot through image processing hardware and software, and uses the center of gravity to calculate the angle with the optical axis of the autocollimator.

[0084] During measurement, the turntable of the device under test needs to rotate slightly, including the pitch direction and the azimuth direction. At this time, the laser spot will form a straight line track L1 in the field of view of the autocollimator. If the laser is pointed correctly, the straight line track returns to the image center point A through the azimuth axis. If there is an error in the laser pointing, the distance h between point A and the foot of the perpendicular line L1 represents the pointing error α of the laser optical axis in the pitch direction. The error calculation method is as follows:

[0085]

[0086] in:

[0087] f is the focal length of the autocollimator.

[0088] When measuring the angle of the laser pointer of the measured device 215 in the azimuth direction, the turntable is at the initial 0 position. At this time, the pentaprism 212 rotates 10° clockwise, and the center of the laser spot must not be in the center of the field of view of the autocollimator. By calculating the coordinates of points A and B, and calculating the angle difference between the optical axis of the centering instrument and the pitch and heading axis of the turntable, it can be calculated that under ideal conditions, the position where the laser spot should fall in the field of view of the autocollimator can be calculated. By comparing the difference H between the theoretical position and the actual position, the error angle β can be calculated.

[0089]

[0090] in:

[0091] f is the focal length of the autocollimator.

[0092] At this time, the direction of the laser device optical axis in the autocollimator coordinate system of the laser calibration measurement module.

[0093] When measuring the optical axis pointing of the device under test 10, the test process is similar. After confirming the angle relationship between the module and the pitch and heading axes of the turntable, the pentaprism rotates 100 degrees to align the light-emitting surface with the device under test 10. At this time, the infrared light tube 9, whose optical axis is parallel to the autocollimator 5, projects the optical target. The output image of the device under test is collected, and the angle between the optical axis of the projected light tube and the optical axis of each working band of the device under test is calculated to establish the direction of the optical axis of the device under test 10 in the autocollimator coordinate system.

[0094] The angle between the laser pointer optical axis and the multi-spectral optical sighting module optical axis is calculated by the space vector method. The angle between the laser pointer optical axis and the turntable pitch axis and azimuth axis is also calculated. The correction vector will be automatically substituted by the software.

[0095] Data acquisition and processing software and hardware include image acquisition and analysis hardware modules, data processing computers and measurement software. The video image output by the autocollimator is acquired through acquisition cards, and the output image of the long-wave thermal imager under test is also acquired. Therefore, the acquisition hardware interface will be designed according to its output signal format.

[0096] After the video image is captured, the image analysis software uses appropriate algorithms to identify the coordinates of the center position of the returned image and calculate the angle information. For the laser spot, the operating software can display the optical axis image information of the product being tested in real time to assist in assembly and adjustment. At the same time, the software gives real-time angle information and makes a judgment on whether the angle is qualified. The inspection report is generated and saved for the last assembly and adjustment result data.

[0097] In this embodiment, the reflector set 1 2 includes two reflectors, and the reflector set 2 6 includes two reflectors.

[0098] In this embodiment, an end face reflector 2 16 is provided at one end of the pitch axis close to the device under test 2 15. After the pentaprism 2 12 is adjusted, the light emitted by the autocollimator 2 11 is irradiated to the end face reflector 2 16 through the reflector group 3 13, and the light is returned to the autocollimator 2 11 for verifying the position of the pitch axis in S5 and S6.

[0099] In this embodiment, the reflector group three 13 includes two reflectors.

[0100] The autocollimation method is used to measure the angle between the optical axis of the optical instrument and the mechanical surface, and the rotation method is used to measure the angle between the optical axis of the autocollimator and the rotation axis.

[0101] The autocollimator 5 can project optical targets, such as projecting the image of a cross target in the form of parallel light. When there is a reflector with a reflective surface perpendicular to the projection optical axis at the light output end of the autocollimator 5, the reflector will reflect the autocollimator projection image back to the inside of the autocollimator, and the reflected target image will coincide with the projection target. If the reflector surface is not perpendicular to the projection optical axis, but the angle between the normal of the surface and the optical axis is very small, the reflected image will still be projected onto the target, but there will be a distance between the center of the target image and the center of the target. At this time, combined with the focal length f of the autocollimator, the angle between the normal of the reflector and the optical axis can be calculated.

[0102] When the reflection surface rotates with the mechanical axis, this method is used to record the circular trajectory formed by the reflection direction rotating with the mechanical axis, the distance between the center of the trajectory and the center of the autocollimator target, and combined with the position coordinates of the center of the trajectory in the field of view of the centering instrument, the mechanical axis can be converted into a vector in the centering instrument coordinate system. Through vector calculation, the angle between the mechanical axis in space and the optical axis of the autocollimator can be obtained. Therefore, it is not necessary to adjust the optical axis of the autocollimator and the measured mechanical axis to perfectly coincide with each other during measurement.

[0103] This measuring device uses an autocollimator, a steering / beam splitting reflector group and an azimuth reflector 1 to complete the autocollimation process. When the angle between the normal direction of the azimuth reflector 1 and the optical axis formed by the autocollimator and the steering / beam splitting reflector group is very small, Figure 5 As shown, the autocollimator projected image will be reflected into the autocollimator field of view, such as Figure 6 As shown in the green image, at this time, the azimuth plane is rotated and the reflector is adjusted. When the normal direction of the azimuth plane reflector 1 is parallel to the azimuth axis of the turntable, the image returned to the autocollimator will not change with the rotation of the turntable azimuth, such as Figure 5 In the middle black image, the azimuth plane rotation axis and the autocollimator optical axis are nearly parallel to each other.

[0104] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A method for adjusting the position of a dual optical axis and a motion axis, characterized in that: The following steps are involved: S1, connecting the device under test 1 (10) and the device under test 2 (15) to the left and right sides of the turntable respectively; S2, fixing the azimuth plane reflector (1) on the upper surface of the turntable, wherein the extension line of the azimuth axis of the turntable passes through and is perpendicular to the azimuth plane reflector (1); S3, an autocollimator (5) is arranged along the normal direction of the entrance pupil of the device under test (10), the light emitted by the autocollimator (5) passes through the pentaprism (4) and then irradiates the roof prism (3), and then passes through the reflector group (2) and irradiates the azimuth reflector (1), the reflector group (2) is adjusted so that the light reflected back by the azimuth reflector (1) is irradiated into the field of view of the autocollimator (5) and close to the center position, and the reflector group (2) is locked; S4, rotating the azimuth axis of the turntable to collect the motion trajectory of the return image within the field of view of the autocollimator (5); S5, rotating the pentaprism 1 (4) so ​​that the light emitted by the autocollimator 1 (5) passes through the reflector set 2 (6) and then irradiates the end reflector 1 (7) arranged at the end face of the pitch axis, and the end reflector 1 (7) reflects the light back to the autocollimator 1 (5), rotating the pitch axis, and collecting the motion trajectory of the returned image in the field of view of the autocollimator 1 (5); S6, after the steps S4 and S5, establishing the positional relationship between the pitch axis and the azimuth axis of the turntable in the autocollimator 1 (5) by calculation; S7, the second autocollimator (11) is located in the direction of the entrance pupil normal of the second device under test (15), and after debugging, the light emitted by the second autocollimator (11) passes through the second pentaprism (12), the roof prism (3) and the reflector group (2) to the azimuth reflector (1), and the light reflected by the azimuth reflector (1) is irradiated into the field of view of the second autocollimator (11) and close to the center position, and the other light is irradiated into the field of view of the first autocollimator (5) and close to the center position after passing through the roof prism (3) and the first pentaprism (4), so that the measurement data of the first autocollimator (5) and the second autocollimator (11) are unified in the same coordinate system; S8, rotating the second prism to the direction of the second device under test (15), the second device under test (15) emits a laser beam to the second autocollimator (11), forming a laser spot in the field of view of the second autocollimator (11), the turntable rotates in a certain range of pitch and azimuth to form a trajectory, calculating the center of gravity of the spot, and using the center of gravity to calculate the angle with the optical axis of the autocollimator, that is, establishing the positional relationship between the second autocollimator (11) and the second device under test (15); S9, rotating prism 1, so that the light from autocollimator 1 (5) and the light from external infrared light tube (9) form parallel light after passing through beam combiner (8), the light from infrared light tube (9) is projected into device 1 (10) under test, the output image of the module under test is collected, and the positional relationship between the optical axis of the projected infrared light and the optical axis of device 1 (10) under test is calculated; S10. Establish the spatial relationship between the first device under test (10) and the second device under test (15) through the mutual relationship obtained from S6 to S9, and adjust them respectively to achieve the designed positional relationship.

2. A dual optical axis and motion axis position debugging method according to claim 1, characterized in that: The position calculation formula of S1 to S9 relative to the autocollimator 1 (5) and the autocollimator 2 (11) is: Where: (θ1, θ2) is the angle between the autocollimator optical axis and the measured optical axis; a1 is the distance from the center of the field of view in the pitch direction; a2 is the horizontal distance from the center of the field of view.

3. A dual optical axis and motion axis position debugging method according to claim 1, characterized in that: The first device under test (10) is a multi-spectral optical sighting module, and the second test device is a laser pointer.

4. A dual optical axis and motion axis position debugging method according to claim 3, characterized in that: The laser emitted by the second device under test (15) passes through the attenuation component and then irradiates the second autocollimator (11).

5. A dual optical axis and motion axis position debugging method according to claim 4, characterized in that: The attenuation component comprises a reflective attenuation plate (14) and an absorption pool (17). The reflective attenuation plate (14) reflects a portion of the laser line into the absorption pool (17), and another portion of the light passes through the reflective attenuation plate (14) and is emitted into the second autocollimator (11).

6. A method for adjusting the position of dual optical axes and motion axes according to claim 5, characterized in that: The absorption tank (17) is provided with a cooling device.

7. A dual optical axis and motion axis position debugging method according to claim 1, characterized in that: In S2, S4, S5 and S7, there is an angle between the light of the autocollimator 1 (5) or the autocollimator 2 (11) and the returned light, and an image recording method is used to record a video of a small displacement of the image, collect the sub-pixel coordinates of the center of the returned image, and fit the center point of the returned image analyzed in multiple frames of images to form a trajectory circle. The center of the trajectory circle points to the direction of the error vector and the residual error γ is calculated by the following formula. Where: R is the radius of the trajectory element; F is the focal length of the autocollimator used.

8. A dual optical axis and motion axis position debugging method according to claim 1, characterized in that: The reflector group one (2) includes two reflectors, and the reflector group two (6) includes two reflectors.

9. A dual optical axis and motion axis position debugging method according to claim 1, characterized in that: An end face reflector 2 (16) is provided at one end of the pitch axis close to the device under test 2 (15). After adjusting the pentaprism 2 (12), the light emitted by the autocollimator 2 (11) is irradiated to the end face reflector 2 (16) through the reflector group 3 (13) and returns to the autocollimator 2 (11) for verifying the position of the pitch axis in S5 and S6.

10. A method for adjusting the position of dual optical axes and motion axes according to claim 9, characterized in that: The reflector group three (13) includes two reflectors.

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