CN102353950A - Laser radar optical system with optical axis calibrating function and optical axis calibrating method - Google Patents
Laser radar optical system with optical axis calibrating function and optical axis calibrating method Download PDFInfo
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- CN102353950A CN102353950A CN2011103147038A CN201110314703A CN102353950A CN 102353950 A CN102353950 A CN 102353950A CN 2011103147038 A CN2011103147038 A CN 2011103147038A CN 201110314703 A CN201110314703 A CN 201110314703A CN 102353950 A CN102353950 A CN 102353950A
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Abstract
The invention discloses a laser radar optical system with an optical axis calibrating function and an optical axis calibrating method thereof. A laser emission mirror in the optical system is arranged on an adjusting mechanism which has a pitch angle and an azimuth angle being adjustable accurately and is locked; a retroreflection mirror group is arranged on the outer sides of the laser emission mirror and a signal receiving optical part; and a lighting source is arranged on the outer side between a field diaphragm and a relay lens group. The central position of the field diaphragm representing a laser signal receiving optical axis and the laser far-field spot position representing a laser emission optical axis are successively imaged into a CCD (charge coupled device) camera for detecting a target picture through utilizing a retroreflection characteristic of a pyramid prism in the retroreflection mirror group. The laser emission mirror is adjusted, so that the two positions are coincided in the CCD camera to complete optical axis calibration. The calibrating method disclosed by the invention has high accuracy, is simple to operate, does not rely on an external auxiliary assembly, and is convenient to use.
Description
Technical field
The invention belongs to laser radar optical devices technical field, be specifically related to a kind of laser radar optical system and optical axis calibrator method with optical axis calibrator function.Be used for Laser emission receiving optics such as laser radar, laser ranging.
Background technology
Laser radar optical system is transmitted into the target place to laser beam in the course of the work, and simultaneously receiving target is to the reflected signal of laser, and system need possess and utilizes the CCD camera target to be carried out the ability of imaging detection.It is to guarantee that Laser emission optical axis, laser signal receive the consistance of optical axis, target imaging aiming optical axis that this one of them important technology requires.Existing laser radar optical system is guaranteed the optical axis calibrator work of light axis consistency; Need in special optical laboratory, carry out mostly; Survey the site error that servicing unit comes each optical axis in the detection laser radar optics system by means of special exterior light repacking, proofread and correct through adjustment appropriate optical element then; Perhaps check the error between each optical axis through remote target, and proofread and correct in the outfield.Said method all needs special external auxiliary device, and needs usually to operate through the expert of special training, makes troubles to real work.
Summary of the invention
Need the deficiency of external auxiliary device, complicated operation in order to overcome laser radar optical system optical axis calibrator in the prior art, the purpose of this invention is to provide a kind of laser radar optical system with optical axis calibrator function; Another object of the present invention provides a kind of optical axis calibrator method with laser radar optical system of optical axis calibrator function.Said laser radar optical system has laser beam is transmitted into the target place, and receiving target laser light reflected signal, has the ability of utilizing the CCD camera target to be carried out to picture simultaneously; The device that will have the optical axis calibrator function is integrated in laser radar optical system inside, does not need external auxiliary device can accomplish the consistance calibration of Laser emission optical axis, laser signal reception optical axis, target imaging aiming optical axis.
A kind of laser radar optical system of the present invention with optical axis calibrator function; Comprise that laser instrument, Laser emission mirror, signal receive optical element, spectroscope, CCD camera, field stop, relay lens group, photodetector; Be characterized in that described laser radar optical system with optical axis calibrator function also comprises retroreflector group, adjusting mechanism and lighting source; The Laser emission mirror is arranged on the adjusting mechanism of the angle of pitch and position angle scalable and locking; At optical system outlet light path arranged outside retroreflector group, the light path arranged outside lighting source between field stop and relay lens group; Described retroreflector group, lighting source are separately positioned in the travel mechanism.
Described retroreflector group comprises first prism of corner cube, second prism of corner cube and laser attenuator assembly; Wherein first prism of corner cube and second prism of corner cube are set up in parallel; Laser attenuator assembly is arranged on logical light face one side of second prism of corner cube, with the coaxial setting of second prism of corner cube.
Described laser attenuator assembly comprises attenuator and extinction plate, and attenuator becomes the 45 setting with incident light axis, and extinction plate and incident light axis laterally arrange.
Described extinction plate adopts metal material or other anti-laser materials to process, the surface oxidation blackout.
Described lighting source comprises bulb, lens, optical filter, cone, and wherein bulb, lens and optical filter are coaxial successively is arranged in the cone.
Be used for a kind of optical axis calibrator method of the present invention, comprise following steps with laser radar optical system of optical axis calibrator function:
A) retroreflector group and lighting source are moved in the light path of said laser radar optical system; The lighting source light emission direction is aimed at the center of field stop; The first prism of corner cube registration signal receives the signal receiving area of optical element; Half aims at the Laser emission mirror the logical light face of second prism of corner cube and laser attenuator assembly, and half registration signal receives the signal receiving area of optical element;
B) open lighting source; Field stop is thrown light on; Illumination light is received optical element by the first prism of corner cube reflected back signal in the retroreflector group; Entering into the CCD camera through the spectroscope partial reflection forms images; Obtain the field stop image; Write down field stop picture centre position in the CCD camera, on behalf of laser signal, field stop picture centre position promptly receive optical axis position in the CCD camera, closes lighting source;
C) open laser instrument and send laser; Part laser is after laser attenuator assembly and the reflection of second prism of corner cube; Reflection ray is parallel to the emission optical axis but transmission direction is opposite; After signal receives optical element; Part laser gets into the CCD camera through the spectroscope reflection, in the CCD camera, obtains representing the representation of laser facula of Laser emission optical axis;
D) adjustment Laser emission mirror, field stop picture centre position overlaps in representation of laser facula and CCD camera;
E) locking Laser emission mirror moves to retroreflector group and lighting source outside the light path, and optical axis calibrator is accomplished.
Laser radar optical system and optical axis calibrator method thereof with optical axis calibrator function of the present invention; Its ultimate principle is: prism of corner cube has the characteristics to the incident ray retroreflection, i.e. the light of prism of corner cube reflection always is parallel to incident ray but transmission direction is opposite; Integrated retroreflector group and lighting source in laser radar optical system; Utilize the rear reflection characteristic of prism of corner cube in the retroreflector group, successively represent laser signal receive optical axis the field stop center, represent the laser far field hot spot of Laser emission optical axis to be imaged onto the CCD camera that is used for detecting target image.In same CCD camera, observe the site error of each optical axis; It is consistent that adjustment Laser emission mirror makes Laser emission optical axis and laser signal receive optical axis; And recording laser emission optical axis and laser signal receive optical axis and adjust the position after consistent; Be provided with as the magazine target imaging aiming of CCD optical axis position, thereby guarantee that Laser emission optical axis, laser signal receive the consistance of optical axis, target imaging aiming optical axis.
Of the present invention have the laser radar optical system of optical axis calibrator function and the beneficial effect of optical axis calibrator method is; Laser radar optical system inner integrated retroreflector group and lighting source; Make that the optical axis calibrator precision of laser radar is high; Simple to operate; And disobey outer servicing unit, easy to use.
Description of drawings
Fig. 1 is the laser radar optical system structural representation with optical axis calibrator function of the present invention.
Fig. 2 is the retroreflector group structural representation in the laser radar optical system with optical axis calibrator function of the present invention.
Fig. 3 is the laser attenuator assembly structural representation in the laser radar optical system with optical axis calibrator function of the present invention.
Fig. 4 is the lighting light source structure synoptic diagram in the laser radar optical system with optical axis calibrator function of the present invention.
Fig. 5 is the laser radar optical system optical axis calibrator structural representation with optical axis calibrator function of the present invention.
Among the figure, 1. laser instrument 2. Laser emission mirrors 3 signals receive optical element 4. spectroscope 5.CCD cameras 6. field stops 7. relay lens groups 8. photodetectors 9. retroreflector groups 10. lighting sources 11. first prism of corner cubes 12. second prism of corner cubes 13 laser attenuator assemblies 14 attenuators 15 extinction plates 16. bulbs 17. lens 18. optical filters 19. cones 20. adjusting mechanisms.
Embodiment
The embodiment that provides below in conjunction with accompanying drawing is described further a kind of laser radar optical system with optical axis calibrator function of the present invention.
Fig. 1 is the laser radar optical system structural representation with optical axis calibrator function of the present invention.
Fig. 2 is the retroreflector group structural representation in the laser radar optical system with optical axis calibrator function of the present invention.
Fig. 3 is the laser attenuator assembly structural representation in the laser radar optical system with optical axis calibrator function of the present invention.
Fig. 4 is the lighting light source structure synoptic diagram in the laser radar optical system with optical axis calibrator function of the present invention.
In Fig. 1 ~ 4; Laser radar optical system with optical axis calibrator function of the present invention comprises laser instrument 1; Laser emission mirror 2; Signal receives optical element 3; Spectroscope 4; CCD camera 5; Field stop 6; Relay lens group 7; Photodetector 8; Retroreflector group 9; Lighting source 10; Adjusting mechanism 20; Laser emission mirror 2 is installed on the adjusting mechanism 20 of the angle of pitch and position angle scalable and locking; In optical system outlet light path arranged outside retroreflector group 9 is arranged; Light path arranged outside lighting source 10 between field stop 6 and relay lens group 7; Retroreflector group 9; Lighting source 10 is separately positioned in the travel mechanism; Move in the light path when carrying out optical axis calibrator, move to outside the light path after calibration finishes.
Structural representation when Fig. 5 is the laser radar optical system optical axis calibrator with optical axis calibrator function of the present invention.The step of optical axis calibrator method of the present invention is following:
A) retroreflector group 9 and lighting source 10 are moved in the light path of laser radar optical system; Lighting source 10 light emission directions are aimed at the center of field stop 6; First prism of corner cube, 11 registration signal receive the signal receiving area of optical element 3; Half aims at Laser emission mirror 2 the logical light face of second prism of corner cube 12 and laser attenuator assembly 13, and half registration signal receives the signal receiving area of optical element 3;
B) open lighting source 10, field stop 6 is thrown light on.Illumination light is received optical element 3 by first prism of corner cube, the 11 reflected back signals in the retroreflector group 9; Enter into 5 imagings of CCD camera through spectroscope 4 partial reflections; Obtain field stop 6 images; Write down field stop 6 picture centre positions in the CCD camera 5, on behalf of laser signal, field stop 6 picture centre positions promptly receive optical axis position in the CCD camera 5.Close lighting source 10.
C) open laser instrument 1 and send laser; Part laser is after laser attenuator assembly 13 and 12 reflections of second prism of corner cube; Reflection ray is parallel to the emission optical axis but transmission direction is opposite; After signal receives optical element 3 transmission; Part laser gets into CCD camera 5 through spectroscope 4 reflections, in CCD camera 5, obtains representing the representation of laser facula of Laser emission optical axis.
D) adjustment Laser emission mirror 2, and field stop 6 picture centre positions overlap in representation of laser facula and CCD camera 5;
E) locking Laser emission mirror 2 moves to retroreflector group 9 and lighting source 10 outside the light path, and optical axis calibrator is accomplished.
But the platform that the travel mechanism described in the present embodiment moves for loading.
Present embodiment is identical with the basic structure of embodiment 1, and difference is: the extinction plate 15 that is provided with in the said laser attenuator assembly 13 adopts graphite material to process.
Present embodiment is identical with the basic structure of embodiment 1, and difference is: the extinction plate 15 that is provided with in the said laser attenuator assembly 13 adopts stupalith to process.
Claims (6)
1. laser radar optical system with optical axis calibrator function; Comprise that laser instrument (1), Laser emission mirror (2), signal receive optical element (3), spectroscope (4), CCD camera (5), field stop (6), relay lens group (7), photodetector (8), it is characterized in that: described laser radar optical system with optical axis calibrator function also comprises retroreflector group (9), adjusting mechanism (20) and lighting source (10); Laser emission mirror (2) is arranged on the adjusting mechanism (20) of the angle of pitch and position angle scalable and locking; At optical system outlet light path arranged outside retroreflector group (9), the light path arranged outside lighting source (10) between field stop (6) and relay lens group (7); Described retroreflector group (9), lighting source (10) are separately positioned in the travel mechanism.
2. a kind of laser radar optical system with optical axis calibrator function as claimed in claim 1 is characterized in that: described retroreflector group (9) comprises first prism of corner cube (11), second prism of corner cube (12) and laser attenuator assembly (13); Wherein first prism of corner cube (11) is set up in parallel with second prism of corner cube (12); Laser attenuator assembly (13) is arranged on logical light face one side of second prism of corner cube (12), and with the coaxial setting of second prism of corner cube (12).
3. a kind of laser radar optical system as claimed in claim 2 with optical axis calibrator function; It is characterized in that: described laser attenuator assembly (13) comprises attenuator (14) and extinction plate (15); Attenuator (14) becomes the 45 setting with incident light axis, extinction plate (15) laterally arranges with incident light axis.
4. a kind of laser radar optical system with optical axis calibrator function as claimed in claim 3 is characterized in that: described extinction plate (15) adopts metal material or other anti-laser materials to process.
5. a kind of laser radar optical system that the optical axis calibrator function is arranged as claimed in claim 1; It is characterized in that: described lighting source (10) comprises bulb (16), lens (17), optical filter (18), cone (19), and wherein bulb (16), lens (17) and optical filter (18) are coaxial successively is arranged in the cone (19).
6. be used for the described optical axis calibrator method of claim 1, comprise following steps successively with laser radar optical system of optical axis calibrator function:
A) retroreflector group (9) and lighting source (10) are moved in the light path of said laser radar optical system; Lighting source (10) light emission direction is aimed at the center of field stop (6); First prism of corner cube (11) registration signal receives the signal receiving area of optical element (3); Half aims at Laser emission mirror (2) the logical light face of second prism of corner cube (12) and laser attenuator assembly (13), and half registration signal receives the signal receiving area of optical element (3);
B) open lighting source (10); Field stop (6) is thrown light on; Illumination light is received optical element (3) by first prism of corner cube (11) the reflected back signal in the retroreflector group (9); Enter into CCD camera (5) imaging through spectroscope (4) partial reflection; Obtain field stop (6) image; Write down field stop (6) picture centre position in the CCD camera (5), on behalf of laser signal, field stop (6) picture centre position promptly receive optical axis position in the CCD camera (5), closes lighting source (10);
C) open laser instrument (1) and send laser; Part laser is after laser attenuator assembly (13) and second prism of corner cube (12) reflection; Reflection ray is parallel to the emission optical axis but transmission direction is opposite; After signal receives optical element (3); Part laser gets into CCD camera (5) through spectroscope (4) reflection, in CCD camera (5), obtains representing the representation of laser facula of Laser emission optical axis;
D) adjustment Laser emission mirror (2), field stop (6) picture centre position overlaps in representation of laser facula and CCD camera (5);
E) locking Laser emission mirror (2) moves to retroreflector group (9) and lighting source (10) outside the light path, and optical axis calibrator is accomplished.
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