A photoelectric pod multi-axis consistency detection device, method and calibration method

Abstract

The present invention relates to the field of optical detection technology, and specifically to a device, method, and calibration method for detecting the multi-optical axis consistency of an optoelectronic pod. The device comprises: a detector, a two-dimensional displacement stage, a first beam splitter, a second beam splitter, a first lens barrel, a second lens barrel, a cross target, and a collimator; the collimator, the first lens barrel, and the detector are connected in sequence; inside the first lens barrel: a second beam splitter is installed near the detector end, and a first beam splitter is installed near the collimator end, so that the optical paths of the pod to be tested and the second beam splitter are connected; the outer wall of the first lens barrel near the collimator end is connected to a pipe at one end of the second lens barrel; the cross target has its own light source; and the outer wall of the first lens barrel near the detector end is connected to the two-dimensional displacement stage. The present invention realizes software compensation after measurement of the deviation angles of the visible detector, infrared detector, and each optical axis of the laser, reduces dependence on high-precision mechanical structures, and reduces manufacturing costs.

Description

Technical Field

[0001] The present invention relates to the field of optical detection technology, and in particular to a device, method and calibration method for detecting multi-optical axes of a photoelectric pod. Background Art

[0002] Optical axis alignment in electro-optical pods is a key indicator for ensuring system detection accuracy and target recognition capabilities. Electro-optical pods typically integrate multiple sensors, including visible light detectors, infrared detectors, and lasers. If the optical axes are not parallel, the position of the same target will shift between the visible and infrared images, leading to laser ranging errors or aiming errors. Especially at long distances, if the laser illumination axis deviates significantly from the visible light or infrared tracking axis, the laser will not be able to accurately cover the target.

[0003] Currently, traditional methods rely on manual visual calibration or step-by-step debugging, which is time-consuming and cumbersome. Subjective errors are easily introduced when manually interpreting the center of the light spot or the degree of image overlap. Optical axis inconsistency is inevitable when the equipment is exposed to high and low temperatures or after transportation. Ambient light interference or mechanical vibration of the equipment may further reduce the consistency of the optical axis. Recalibration at this time requires a lot of manpower, material resources and time. Therefore, the repeatability accuracy of manual calibration is difficult to meet the needs of rapid field maintenance.

[0004] Therefore, those skilled in the art urgently need to provide a new method for detecting the consistency of multiple optical axes of an optoelectronic pod. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defects existing in the above-mentioned prior art, thereby providing a multi-axis consistency detection device, method and calibration method for an optoelectronic pod.

[0006] A multi-axis consistency detection device for an optoelectronic pod includes: a detector, a two-dimensional translation stage, a first beam splitter, a second beam splitter, a first lens barrel, a second lens barrel, a cross target, and a parallel light pipe;

[0007] One end of the first lens barrel is connected to the light outlet of the collimator with a screw; the other end of the first lens barrel is connected to the detector top screw;

[0008] Inside the first lens barrel: a second beam splitter is installed near the detector end, and a first beam splitter is installed near the parallel light tube end, so that the optical path of the pod to be tested and the second beam splitter are connected;

[0009] The outer wall of the first lens barrel near the collimator end is connected to a pipe at one end of the second lens barrel, so that the cross target installed at the other end of the second lens barrel is connected to the reflected light path of the first beam splitter; wherein the cross target has its own light source;

[0010] The outer wall of the first lens barrel close to the detector end is connected to the two-dimensional displacement stage, so that the two-dimensional displacement stage is connected to the reflection light path of the second beam splitter.

[0011] Preferably, the two-dimensional translation stage comprises: a first moving frame, a second moving frame, a sliding connection member, a light source target integrated component, and an adjustment cylinder;

[0012] The first movable frame and the second movable frame are slidably connected via a sliding connection member to achieve relative movement between the X-axis and the Y-axis in a two-dimensional coordinate system;

[0013] One end of the adjustment tube is connected to the outer wall of the first lens barrel close to the detector, and the other end is connected to the second movable frame away from the first movable frame with a top screw;

[0014] The light source target integrated component is detachably mounted on the top surface of the first mobile frame, so that the light emitted by the light source target integrated component passes through the through hole of the first mobile frame, the through hole of the second mobile frame and the inside of the adjustment cylinder into the second spectroscope in sequence.

[0015] A calibration method for a photoelectric pod multi-axis consistency detection device is used to calibrate a photoelectric pod multi-axis consistency detection device, comprising:

[0016] S1. Use two theodolites to adjust the first and second beam splitters based on the right triangle theorem;

[0017] S2. Use two light sources to calibrate the entire device.

[0018] Preferably, adjusting the first beam splitter and the second beam splitter based on the right triangle theorem using a first theodolite placed at the light outlet of the collimator and a second theodolite placed on the beam splitting path specifically includes:

[0019] Place the first theodolite at the light outlet of the collimator;

[0020] A plane reflector is detachably mounted on the top of the light entrance of the collimator, and the plane reflector does not completely block the light entrance of the collimator;

[0021] Adjusting the length of the first lens barrel in the collimator until one end of the first lens barrel contacts the plane reflector, so that the first theodolite completes self-alignment based on the coincidence of the reflected light path of the plane reflector and the incident light path of the plane reflector;

[0022] The azimuth angle of the first theodolite is reset to zero, and a second theodolite is placed in the beam splitting path of the first beam splitter of the first lens barrel; the first theodolite and the second theodolite are aimed at each other, and the aiming rotation angle of the first theodolite is recorded at this time. , and the second theodolite aiming rotation angle ; Adjust the first beam splitter so that , complete the adjustment of the first beam splitter;

[0023] Similarly, clear the azimuth of the first theodolite and place the second theodolite in the second optical mirror beam splitting path of the first lens barrel; aim the first theodolite and the second theodolite at each other, and record the aiming rotation angle of the first theodolite at this time , and the second theodolite aiming rotation angle ; Adjust the second beam splitter so that , complete the adjustment of the second beam splitter.

[0024] Preferably, two light sources are used to calibrate the entire device, specifically including:

[0025] S201. Only the light source of the cross target is turned on, so that the light passes through the cross target, the first beam splitter, the plane reflector and the second beam splitter in sequence, and finally enters the detector for imaging;

[0026] S202. Adjust the angle of the plane reflector and the distance between the detector and the plane reflector so that the light image is clearly visible at the center of the detector image plane;

[0027] S204. Turn on only the light source at the two-dimensional translation stage and adjust the thickness of the adjustment tube until a clear and visible image of the target on the two-dimensional translation stage appears at the center of the detector image plane, completing the calibration of the entire device.

[0028] A photoelectric pod multi-axis consistency detection method is implemented using a photoelectric pod multi-axis consistency detection device, comprising the following steps:

[0029] S1001. Execute a calibration method for a photoelectric pod multi-axis consistency detection device to complete the calibration of a photoelectric pod multi-axis consistency detection device;

[0030] S1002. Turn on the light source at the cross target and the two-dimensional translation stage; adjust the position of the pod to be tested at the collimator light inlet and connected to the collimator light path so that the cross target imaging is located at the center of the visible detector image plane to complete the benchmark calibration;

[0031] S1003. Because the infrared detector and visible detector in the pod under test are located on the same horizontal axis and adjacent to each other, the cross target image is simultaneously formed on the infrared detector image plane during step S1002. The target on the 2D translation stage is turned on. At this point, the cross target image and the target image on the 2D translation stage overlap in the visible detector and the infrared detector, respectively.

[0032] S1004. Move the target at the two-dimensional translation stage so that the target image at the two-dimensional translation stage in the infrared detector moves to the center of the infrared detector;

[0033] S1005. Turn on the laser of the pod to be tested; the laser enters the detector through the collimator, the first beam splitter, and the second beam splitter to form an image;

[0034] S1006. Adjust the overlapping position of the target of the two-dimensional translation stage and the laser emitted light spot on the detector, record the value of the movement of the two-dimensional translation stage at this time, and further calculate the angle of deviation between the laser and the visible light axis to complete the multi-optical axis consistency detection.

[0035] Preferably, in step S1004, the horizontal movement direction of the two-dimensional translation stage is recorded as , the up and down movement direction is recorded as , the focal length of the light tube is recorded as , the horizontal deviation angle is recorded as ; The deviation angle in the up and down directions is recorded as ;

[0036] The deviation angle of the pod to be tested is calculated as:

[0037] Horizontal deviation angle ;

[0038] Up and down deviation angle .

[0039] The technical solution of the present invention has the following advantages:

[0040] By moving the target position on a two-dimensional translation stage, the present invention can simulate the dynamic conditions of an optical system during actual operation and detect the stability of the optical axis in motion, which is more practical than static detection. The present invention enables multi-position detection by moving the target on the two-dimensional translation stage to cover multiple positions or angles of the optical axis, avoiding the limitations of local consistency detection caused by a fixed target. Software compensation is implemented after measurement of the deviation angles between the visible detector, infrared detector, and each optical axis of the laser, reducing reliance on high-precision mechanical structures and manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 Schematic diagram of the position of the plane reflector of the present invention;

[0043] Figure 2 This is a schematic diagram of the principle of a multi-axis consistency detection device for an optoelectronic pod according to the present invention;

[0044] Figure 3 Schematic diagram of the two-dimensional translation stage structure;

[0045] Figure 4 A schematic diagram of the positions of the first theodolite and the second theodolite when adjusting the first beam splitter and the second beam splitter;

[0046] Figure 5 Schematic diagram of the pod structure to be tested.

[0047] Description of reference numerals:

[0048] 1001-Laser, 1002-Visible detector, 1003-Infrared detector;

[0049] 1-detector, 2-two-dimensional translation stage, 3-first beam splitter, 4-second beam splitter, 5-first lens barrel, 6-second lens barrel, 7-cross target, 8-collimator, 9-plane reflector, 10-pod, 11-first theodolite, 12-second theodolite second position, 13-second theodolite first position;

[0050] 201 - motor, 202 - sensor, 203 - connector, 204 - sliding connector, 205 - adjustment cylinder, 206 - third slide bar, 207 - second mobile frame, 208 - first mobile frame, 209 - light source target integrated component. DETAILED DESCRIPTION

[0051] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0052] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0054] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0055] Example 1

[0056] This embodiment discloses a multi-axis consistency detection device for an optoelectronic pod, comprising: a detector 1, a two-dimensional translation stage 2, a first beam splitter 3, a second beam splitter 4, a first lens barrel 5, a second lens barrel 6, a cross target 7, and a collimator 8;

[0057] One end of the first lens barrel 5 is screwed to the light outlet of the collimator 8; the other end of the first lens barrel 5 is screwed to the detector 1;

[0058] Inside the first lens barrel 5: a second beam splitter 4 is installed near the detector 1 end, and a first beam splitter 3 is installed near the collimator 8 end, so that the pod to be tested 10 is optically connected to the second beam splitter 4;

[0059] The outer wall of the first lens barrel 5 near the collimator 8 is connected to the pipe at one end of the second lens barrel 6, so that the cross target 7 installed at the other end of the second lens barrel 6 is connected to the reflected light path of the first beam splitter 3; wherein the cross target 7 has its own light source;

[0060] The outer wall of the first lens barrel 5 close to the detector 1 is connected to the two-dimensional translation stage 2 so that the two-dimensional translation stage 2 and the reflected light path of the second beam splitter 4 are connected.

[0061] like Figure 2 The figure is a schematic diagram of the principle of a multi-optical axis consistency detection device for an optoelectronic pod 10.

[0062] like Figure 3 The two-dimensional translation stage 2 includes: a first moving frame 208, a second moving frame 207, a sliding connection 204, a light source target integrated component 209 and an adjustment cylinder 205;

[0063] The first moving frame 208 and the second moving frame 207 are slidably connected by a sliding connection 204 to achieve relative movement between the X-axis and the Y-axis in the two-dimensional coordinate system. In this embodiment, the two-dimensional translation stage 2 also includes two displacement control components and two connection components 203. Among them, a motor 201 and a sensor 202 are connected by the connection components 203 to form a displacement control component in one direction. Figure 3 FIG. 2 shows a diagram of the displacement control components on the first movable frame 208 .

[0064] The two displacement control components are respectively mounted on the first moving frame 208 of the n-shaped structure and the second moving frame 207 of the U-shaped structure;

[0065] The opening of the first movable frame 208 and the opening of the second movable frame 207 are arranged opposite to each other;

[0066] The sliding connection 204 is composed of a first sliding rod, a second sliding rod, a third sliding rod 206, a fourth sliding rod, and a slider that moves on each sliding rod;

[0067] The ends of the first slide bar and the second slide bar are respectively fixedly connected to the two ends of the opening of the first movable frame 208, and the sliders on the first slide bar and the second slide bar are connected to the displacement control component on the first movable frame 208, so that the first movable frame 208 moves on the first slide bar and the second slide bar under the drive of the motor 201 and the sensor 202;

[0068] The ends of the third slide bar 206 and the fourth slide bar are respectively fixedly connected to the ends of the opening of the second movable frame 207; and the sliders on the third slide bar 206 and the fourth slide bar are respectively fixedly connected to the ends of the opening of the first movable frame 208; at the same time, the sliders on the third slide bar 206 and the fourth slide bar are connected to the displacement control component on the second movable frame 207, so that the first movable frame 208 moves on the third slide bar 206 and the fourth slide bar; Figure 3 , the connection structure between the slider on the third sliding rod 206 and the first movable frame 208 is illustrated.

[0069] The sliding bars on the first movable frame 208 and the sliding bars on the second movable frame 207 are arranged orthogonally.

[0070] One end of the adjustment tube 205 is connected to the outer wall of the first lens barrel 5 close to the detector 1, and the other end is connected to the second movable frame 207 away from the first movable frame 208 by a top screw;

[0071] The light source target integrated component 209 can be detachably mounted on the top surface of the first movable frame 208 so that the light emitted by the light source target integrated component 209 passes through the through hole of the first movable frame 208, the through hole of the second movable frame 207 and the inside of the adjustment cylinder 205 in sequence and enters the second spectroscope 4.

[0072] During actual installation:

[0073] First, assemble the two-dimensional translation stage 2, install the motor 201 and the sensor 202 together through the connector 203, then install the entire set of displacement control components on the first mobile frame 208, and install another set of displacement control components on the second mobile frame 207 through the linking parts. Then, install the four sliding bars on the first mobile frame 208 and the second mobile frame 207 respectively. The sliders on the third sliding bar 206 and the fourth sliding bar are fixedly connected to the two ends of the opening of the first mobile frame 208 to realize the connection between the first mobile frame 208 and the second mobile frame 207; finally, place the adjustment cylinder 205 on the second mobile frame 207 to complete the assembly of the two-dimensional translation stage 2.

[0074] Install the first lens barrel 5 to the light outlet of the collimator 8 and fix it with screws;

[0075] Install the detector 1 at the other end of the first lens barrel 5 and fix it with a screw; at the same time, install the first beam splitter 3 and the second beam splitter 4 into the first lens barrel 5;

[0076] Among them, an adjustment pad is placed between the first beam splitter 3, the second beam splitter 4 and the first lens barrel 5 to facilitate subsequent adjustment of the angles of the first beam splitter 3 and the second beam splitter 4;

[0077] A cross target 7 is installed at one end of the second lens barrel 6 and fixed with a pressure ring. The other end of the second lens barrel 6 is installed to the outlet of the first beam splitter 3 of the first lens barrel 5 and fixed to the first lens barrel 5 with screws. The two-dimensional translation stage 2 is fixed to the second beam splitter 4 with screws. At this time, the installation of the entire device is completed.

[0078] Example 2

[0079] This embodiment further discloses a calibration method for a multi-axis consistency detection device for an optoelectronic pod based on the first embodiment, and is used to calibrate the multi-axis consistency detection device for an optoelectronic pod disclosed in the first embodiment, including the following steps:

[0080] S1. Using two theodolites based on the right triangle theorem to complete the adjustment of the first beam splitter 3 and the second beam splitter 4;

[0081] S2. Use two light sources to calibrate the entire device.

[0082] Specifically:

[0083] like Figure 4 , is a schematic diagram of the positions of the first theodolite 11 and the second theodolite when the first beam splitter 3 and the second beam splitter 4 are adjusted;

[0084] The first theodolite 11 placed at the light outlet of the collimator 8 and the second theodolite placed on the light splitting path are used to adjust the first beam splitter 3 and the second beam splitter 4 based on the right triangle theorem, specifically including:

[0085] Place the first theodolite 11 at the light outlet of the collimator 8;

[0086] like Figure 1 A plane reflector 9 is detachably mounted on the top of the light entrance of the collimator 8, and the plane reflector 9 does not completely block the light entrance of the collimator 8;

[0087] Adjust the length of the first lens barrel 5 in the collimator 8 until one end of the first lens barrel 5 contacts the plane reflector 9, so that the first theodolite 11 completes self-alignment based on the reflected light path of the plane reflector 9 and the incident light path of the plane reflector 9 coincide with each other;

[0088] The azimuth angle of the first theodolite 11 is cleared to zero, and a second theodolite is placed in the light splitting path of the first beam splitter 3 of the first lens barrel 5, as shown in FIG. Figure 4 At this time, the second theodolite is located at the second theodolite first position 13; the first theodolite 11 and the second theodolite are aimed at each other, and the aiming rotation angle of the first theodolite 11 is recorded at this time. , and the second theodolite aiming rotation angle ; Adjust the first beam splitter 3 so that , complete the adjustment of the first beam splitter 3;

[0089] Similarly, the azimuth angle of the first theodolite 11 is cleared to zero, and a second theodolite is placed in the second optical mirror beam splitting path of the first lens barrel 5, as shown in the following example. Figure 4 At this time, the second theodolite is located at the second theodolite position 12; the first theodolite 11 and the second theodolite are aimed at each other, and the aiming rotation angle of the first theodolite 11 is recorded at this time. , and the second theodolite aiming rotation angle ; Adjust the second beam splitter 4 so that , complete the adjustment of the second beam splitter 4.

[0090] The calibration of the entire device is achieved using two light sources, including:

[0091] S201. Only the light source of the cross target 7 is turned on, so that the light passes through the cross target 7, the first beam splitter 3, the plane mirror 9 and the second beam splitter 4, and finally enters the detector 1 for imaging;

[0092] S202. Adjust the angle of the plane reflector 9 and the distance between the detector 1 and the plane reflector 9 so that the light is imaged at the center of the image plane of the detector 1 and is clearly visible;

[0093] S204. Turn on only the light source at the two-dimensional translation stage 2 and adjust the thickness of the adjustment tube 205 until a clear and visible image of the target on the two-dimensional translation stage 2 appears at the center of the image plane of the detector 1, completing the calibration of the entire device.

[0094] It should be noted that this embodiment is simple to operate, and the devices involved in calibration are all existing devices that are easy to obtain and operate; at the same time, the overall method does not require manual careful judgment one by one during actual operation, and the calibration results are clear and highly accurate.

[0095] Example 3

[0096] A photoelectric pod multi-axis consistency detection method is implemented by applying a photoelectric pod 10 multi-axis consistency detection device of embodiment 1; for ease of understanding Figure 5 The figure shows the structure of the pod 10 to be tested. Figure 5 The middle laser 1001 is located above the entire device of the pod 10 to be tested; the infrared detector 1003 and the visible detector 1002 are located on the same side and the same horizontal axis, and are arranged adjacent to each other;

[0097] A method for detecting consistency of multiple optical axes of an optoelectronic pod 10 comprises the following steps:

[0098] S1001. Execute the calibration method of a photoelectric pod multi-axis consistency detection device of Example 2 to complete the calibration of a photoelectric pod multi-axis consistency detection device of Example 1;

[0099] S1002. Turn on the light source at the cross target 7 and the two-dimensional translation stage 2; adjust the position of the pod 10 to be tested, which is located at the light inlet of the collimator 8 and connected to the optical path of the collimator 8, so that the cross target 7 is imaged at the center of the image plane of the visible detector 1002 to complete the benchmark calibration;

[0100] S1003. Because the infrared detector 1003 and the visible detector 1002 in the test pod 10 are located on the same horizontal axis and adjacent to each other, the cross target 7 is simultaneously imaged on the image plane of the infrared detector 1003 during step S1002. The target at the two-dimensional translation stage 2 is turned on. At this point, the image of the cross target 7 and the image of the target at the two-dimensional translation stage 2 overlap in the visible detector 1002 and the infrared detector 1003, respectively.

[0101] S1004. Move the target at the two-dimensional translation stage 2 so that the target image at the two-dimensional translation stage 2 in the infrared detector 1003 moves to the center of the infrared detector 1003;

[0102] S1005. Turn on the laser 1001 of the pod 10 to be tested; the laser 1001 enters the detector 1 through the collimator 8, the first beam splitter 3, and the second beam splitter 4 to form an image;

[0103] S1006. Adjust the overlap position of the target on the two-dimensional translation stage 2 and the spot emitted by the laser 1001 on the detector 1. Record the movement of the two-dimensional translation stage 2 at this time. Further calculate the angle of deviation between the laser 1001 and the visible light axis to complete the multi-optical axis consistency test. It should be noted that in this embodiment, the target in the integrated light source and target component 209 uses a full-spectrum graticule.

[0104] In step S1004, the horizontal movement direction of the two-dimensional translation stage 2 is recorded as , the up and down movement direction is recorded as , the focal length of the light tube is recorded as , the horizontal deviation angle is recorded as ; The deviation angle in the up and down directions is recorded as ;

[0105] The deviation angle of the pod 10 to be tested is calculated as:

[0106] Horizontal deviation angle ;

[0107] Up and down deviation angle .

[0108] In addition, in practical applications, a photoelectric pod multi-optical axis consistency detection device can be used to measure the effect of temperature on optical axis consistency as needed, and establish a relationship between temperature and optical axis consistency.

[0109] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A multi-axis consistency detection device for an optoelectronic pod, characterized in that: include: A detector (1), a two-dimensional displacement stage (2), a first beam splitter (3), a second beam splitter (4), a first lens barrel (5), a second lens barrel (6), a cross target (7), and a collimator (8); One end of the first lens barrel (5) is screwed to the light outlet of the parallel light tube (8); the other end of the first lens barrel (5) is screwed to the top screw of the detector (1); Inside the first lens barrel (5), a second beam splitter (4) is installed near the detector (1) end, and a first beam splitter (3) is installed near the parallel light tube (8) end, so that the optical path of the pod to be tested (10) and the second beam splitter (4) are connected; The outer wall of the first lens barrel (5) near the end of the parallel light tube (8) is connected to a pipe at one end of the second lens barrel (6), so that the cross target (7) installed at the other end of the second lens barrel (6) is connected to the reflection light path of the first beam splitter (3); wherein the cross target (7) has its own light source; The first lens barrel (5) is connected to the two-dimensional displacement stage (2) at an outer wall close to the detector (1), so that the reflection light path of the two-dimensional displacement stage (2) and the second beam splitter (4) are connected; The two-dimensional displacement stage (2) comprises: a first movable frame (208), a second movable frame (207), a sliding connection member (204), a light source target integrated component (209), and an adjustment cylinder (205); The first movable frame (208) and the second movable frame (207) are slidably connected via a sliding connection member (204) to achieve relative movement along the X-axis and the Y-axis in a two-dimensional coordinate system; One end of the adjustment tube (205) is connected to the outer wall of the first lens barrel (5) close to the detector (1), and the other end is connected to the top screw of the second movable frame (207) away from the first movable frame (208); The light source target integrated component (209) is detachably mounted on the top surface of the first movable frame (208), so that light emitted by the light source target integrated component (209) passes through the through hole of the first movable frame (208), the through hole of the second movable frame (207), and the interior of the adjustment cylinder (205) in sequence and enters the second spectroscope (4).

2. A calibration method for a multi-axis consistency detection device for an optoelectronic pod, characterized in that: Used to calibrate the multi-axis consistency detection device of the optoelectronic pod according to claim 1, comprising: S1. Using two theodolites, the adjustment of the first beam splitter (3) and the second beam splitter (4) is completed based on the right triangle theorem; S2. Use two light sources to calibrate the entire device.

3. The calibration method of the multi-axis consistency detection device of the optoelectronic pod according to claim 2 is characterized in that: The first theodolite (11) placed at the light outlet of the parallel light tube (8) and the second theodolite placed on the light splitting path are used to adjust the first beam splitter (3) and the second beam splitter (4) based on the right triangle theorem, specifically including: Place the first theodolite (11) at the light outlet of the parallel light tube (8); A plane reflector (9) is detachably mounted on the top of the light inlet of the collimator (8), and the plane reflector (9) does not completely block the light inlet of the collimator (8); Adjusting the length of the first lens barrel (5) in the collimator (8) until one end of the first lens barrel (5) contacts the plane reflector (9), so that the first theodolite (11) completes self-alignment based on the coincidence of the reflected light path of the plane reflector (9) and the incident light path of the plane reflector (9); The azimuth angle of the first theodolite (11) is cleared to zero, and a second theodolite is placed in the light splitting path of the first beam splitter (3) of the first lens barrel (5); the first theodolite (11) and the second theodolite are aimed at each other, and the aiming rotation angle of the first theodolite (11) at this time is recorded. , and the second theodolite aiming rotation angle ; Adjust the first beam splitter (3) so that , completing the adjustment of the first beam splitter (3); Similarly, the azimuth angle of the first theodolite (11) is cleared to zero, and a second theodolite is placed in the second optical mirror beam splitting path of the first lens barrel (5); the first theodolite (11) and the second theodolite are aimed at each other, and the aiming rotation angle of the first theodolite (11) at this time is recorded. , and the second theodolite aiming rotation angle ; Adjust the second beam splitter (4) so ​​that , completing the adjustment of the second beam splitter (4).

4. The calibration method of the multi-axis consistency detection device of the optoelectronic pod according to claim 2 is characterized in that: The calibration of the entire device is achieved using two light sources, including: S201. Only the light source of the cross target (7) is turned on, so that the light passes through the cross target (7), the first beam splitter (3), the plane reflector (9) and the second beam splitter (4) in sequence, and finally enters the detector (1) for imaging; S202. Adjust the angle of the plane reflector (9) and the distance between the detector (1) and the plane reflector (9) so that the light image is formed at the center of the image plane of the detector (1) and is clearly visible; S204. Only the light source at the two-dimensional displacement stage (2) is turned on, and the thickness of the adjustment tube (205) is adjusted until a clearly visible image of the target on the two-dimensional displacement stage (2) appears at the center of the image plane of the detector (1), thereby completing the calibration of the entire device.

5. A method for detecting the consistency of multiple optical axes of an optoelectronic pod, characterized in that: The multi-axis consistency detection device for an optoelectronic pod according to claim 1 is implemented by applying the method, comprising the following steps: S1001. Execute the calibration method of a photoelectric pod multi-axis consistency detection device according to claim 2 to complete the calibration of a photoelectric pod multi-axis consistency detection device; S1002. Turn on the light source at the cross target (7) and the two-dimensional displacement stage (2); adjust the position of the pod to be tested (10) located at the light entrance of the collimator (8) and connected to the optical path of the collimator (8) so that the image of the cross target (7) is located at the center of the image plane of the visible detector (1002), completing the calibration of the benchmark; S1003. Since the infrared detector (1003) and the visible detector (1002) in the pod to be tested (10) are on the same horizontal axis and are located adjacent to each other, when step S1002 is executed, the cross target (7) is simultaneously imaged on the image plane of the infrared detector (1003); the target at the two-dimensional displacement stage (2) is opened, and at this time, the image of the cross target (7) and the image of the target at the two-dimensional displacement stage (2) are overlapped in the visible detector (1002) and the infrared detector (1003) respectively; S1004. Moving the target at the two-dimensional displacement stage (2) so that the target image at the two-dimensional displacement stage (2) in the infrared detector (1003) moves to the center of the infrared detector (1003); S1005. Turn on the laser (1001) of the pod to be tested (10); the laser (1001) enters the detector (1) through the collimator (8), the first beam splitter (3), and the second beam splitter (4) to form an image; S1006. Adjust the overlapping position of the target of the two-dimensional displacement stage (2) and the light spot emitted by the laser (1001) on the detector (1), record the value of the movement of the two-dimensional displacement stage (2) at this time, and further calculate the angle of deviation between the laser (1001) and the visible light axis to complete the multi-optical axis consistency detection.

6. The method for detecting the consistency of multiple optical axes of an optoelectronic pod according to claim 5, characterized in that: In step S1004, the horizontal movement direction of the two-dimensional translation stage (2) is recorded as , the up and down movement direction is recorded as , the focal length of the light tube is recorded as , the horizontal deviation angle is recorded as ; The vertical deviation angle is recorded as ; The deviation angle of the pod (10) to be tested is calculated as: Horizontal deviation angle ; Vertical deviation angle .

Images