CN114967022B - Auto-collimation dynamic target optical calibration method based on double theodolites - Google Patents
Auto-collimation dynamic target optical calibration method based on double theodolites Download PDFInfo
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- CN114967022B CN114967022B CN202210431438.XA CN202210431438A CN114967022B CN 114967022 B CN114967022 B CN 114967022B CN 202210431438 A CN202210431438 A CN 202210431438A CN 114967022 B CN114967022 B CN 114967022B
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/003—Alignment of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/02—Means for marking measuring points
- G01C15/06—Surveyors' staffs; Movable markers
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/003—Alignment of optical elements
- G02B7/004—Manual alignment, e.g. micromanipulators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
An auto-collimation dynamic target optical calibration method based on double theodolites belongs to the technical field of optical detection and calibration, and particularly relates to an auto-collimation dynamic target structure and a calibration scheme. The invention solves the problem of high difficulty in assembling and calibrating the existing auto-collimation dynamic target. The invention adopts a double theodolite to realize the installation and correction process, firstly adopts a rotary optical axis and a test reference radiation mirror to determine the main and initial positions and the postures of the first theodolite, then the first theodolite carries out installation and correction on the first light guide mirror, then adjusts the relative postures of a sub-optical path and the rotary optical axis, finally carries out installation and correction on the postures of the second light guide mirror, and completes the installation and correction process of the sub-optical path and the light guide mirror. The invention realizes the quick assembly and correction of the coaxiality of the dynamic target sub-optical path and the optical axis of the guide lens, improves the assembly and correction efficiency aiming at the dynamic target, and reduces the technical requirements on operators. The invention is suitable for the technical field of manufacturing and debugging of auto-collimation dynamic targets.
Description
Technical Field
The invention belongs to the technical field of optical detection and assembly and calibration, and particularly relates to an auto-collimation dynamic target sub-optical path and guide lens assembly and calibration method based on a dual theodolite.
Background
Dynamic targets are commonly used for tracking performance testing of various tracking systems. The traditional dynamic target enables the tested tracking system to track the target by simulating an infinitely moving target, and then the tracking performance of the tested tracking system and the detection of system parameters are finished by means of other measuring instruments, so that the detection process is complicated. Unlike traditional dynamic targets, the auto-collimation dynamic targets can simulate moving targets in infinite places, can also receive light beams emitted by a tested tracking system, and can realize direct measurement of tracking precision of the tested system.
Because the auto-collimation dynamic target simultaneously comprises the structures of a receiving unit, a transmitting unit, a rocker arm and the like, the difficulty of system installation and calibration is greatly increased. The existing assembling and calibrating method only uses the collimator to carry out assembling and calibrating, and the collimator needs to be moved when assembling and calibrating different components, which is very inconvenient. Therefore, how to complete the alignment of the optical axis consistency of the auto-collimation dynamic target sub-optical path, the optical antenna and the rotation guide mirror is a difficult problem, and a method capable of satisfying the alignment of the auto-collimation dynamic target optical path is urgently needed.
In summary, the existing auto-collimation dynamic target simultaneously comprises a receiving unit, a transmitting unit, a rocker and other structures, so that the difficulty in system installation and calibration is high.
Disclosure of Invention
The invention solves the problem of high difficulty in assembling and calibrating the existing auto-collimation dynamic target. The invention adopts a double theodolite to firstly calibrate a first guide mirror, and then calibrate a second guide mirror according to the first guide mirror.
The invention discloses an auto-collimation dynamic target optical calibration method based on a double theodolite, which adopts the double theodolite to realize the coaxial calibration of a light guide lens and a sub-optical path of the auto-collimation dynamic target, and comprises the following steps:
step one, fixing a rotating optical axis 15 through an auto-collimation dynamic target calibration tool 26, and completing optical axis consistency calibration of a reference reflector 16 and the rotating optical axis 15 by adopting a first theodolite 17 in combination with a test reference reflector 16, wherein the posture of the first theodolite 17 is A;
step two, adjusting the first theodolite 17 to rotate 45 degrees to change the attitude C; adjusting and determining the position and initial attitude B of the second theodolite 20;
step three, installing a first light guide lens 21, adjusting the gesture of the first light guide lens 21 through a second theodolite, and calibrating the included angle between the first light guide lens 21 and a rotating optical axis 15 to finish the installation and calibration of the first light guide lens 21; at the moment, the gesture of the second theodolite is D;
step four, the first guiding mirror 21 and the test reference mirror 16 are detached;
fifthly, integrally mounting the sub-optical path 13 and the card antenna 14 at the left end of the revolving optical axis 15, adjusting the posture of the first theodolite 17 to be restored to the posture A, and calibrating the postures of the sub-optical path 13 and the card antenna 14 through the first theodolite 17 to finish the assembly and calibration of the sub-optical path 13 and the card antenna 14;
step six, taking down the reference reflector 2; the first guide mirror 21 is mounted to the original position and fixed by a mounting positioning pin;
and step seven, installing a second light guide lens 19, and adjusting the posture of the second light guide lens 19 through the combination of the first theodolite 17 and the second theodolite 20 to finish the installation and calibration of the second light guide lens 19.
Further, the specific method of the first step is illustrated as follows:
fixing the rotating optical axis 15 on an auto-collimation dynamic target calibration tool 26;
a test reference mirror 16 is fixed on a boss 25 of a fixed reference mirror provided inside the rotation optical axis 15;
the first theodolite 17 is arranged on the right side of the rotating optical axis 15 and kept in a horizontal posture, and then the position and the posture of the first theodolite are adjusted so that the light beam emitted by the first theodolite 17 is reflected by the reference reflector 16 and then is incident into the first theodolite 17 again to form an imaging cross light spot;
controlling the rotation of the rotating optical axis 15 until the imaging cross light spot in the first theodolite 17 moves to the center position of the cross line of the imaging cross light spot, and completing the optical axis consistency calibration of the reference reflector 16 and the rotating optical axis 15; the attitude of the first theodolite 17 at this time is marked as a, and the azimuth and pitch values of the attitude a are recorded.
Further, the specific method of the second step is illustrated as follows:
the azimuth of the first theodolite 17 is rotated 45 degrees to be changed into an attitude C, the second theodolite 20 is adjusted to be in a horizontal attitude, the position and the attitude of the second theodolite 20 are adjusted, the light emitted by the first theodolite 17 enters the second theodolite 20 to form an imaging cross light spot, the imaging cross light spot is enabled to move to the center position of a cross line of the second theodolite 20, at the moment, the attitude of the second theodolite 20 is an initial attitude B, and the azimuth and the pitching value under the attitude are recorded.
Further, the specific method of the third step is exemplified as follows:
adjusting the azimuth rotation of the second theodolite 20 by 45 degrees so as to lead the second theodolite to point to the installation position of the first guide mirror 21;
mounting a first guide mirror 21 at the mounting position;
controlling the second theodolite 20 to emit light beams, enabling the light beams reflected by the first guiding mirror 21 to be incident to the second theodolite 20 to form imaging cross light spots, adjusting the gesture of the first guiding mirror 21 until the cross light spots move to the center position of a center cross line of the second theodolite 20, and completing the calibration of the included angle between the first guiding mirror 21 and the rotating optical axis 15; at this time, the posture D of the first guide mirror 21.
Further, the specific method of the fifth step is illustrated as follows:
integrally mounting the sub-optical path 13 and the clip antenna 14 to the left end of the revolution optical axis 15;
the attitude of the first theodolite 17 is adjusted to be an attitude A, and then a light beam is emitted, so that the light beam is reflected by the reference reflector 2 on the card antenna 14 and an imaging cross light spot is formed in the first theodolite 17;
and by adjusting the integral postures of the sub-optical path 13 and the clamp antenna 14 until the imaging cross light spot moves to the center position of the cross line of the first theodolite 17, the optical axis of the sub-optical path is calibrated with the optical axis of the rotating shaft, and the assembly and calibration of the sub-optical path 13 are completed.
Further, the specific method of the step seven is exemplified as follows:
the reference reflector 2 is removed, and a second guide mirror 19 is arranged at the mounting position of the first guide mirror of the rocker 18;
rotating the first theodolite 17 by 60 degrees to become a posture F;
adjusting the posture of the second theodolite 20 so that the imaging cross light spot received by the second theodolite 20 is positioned at the center of the cross line of the second theodolite 20, and at this time, the position and the posture of the second theodolite 20 are E;
rotating the angle of the second theodolite 20 by 120 degrees to form a posture H, so that the emitted light beam is aligned with the second guiding mirror 19;
the sub-optical path 13 emits a light beam, the light beam is reflected by the first guiding mirror 21 and then emitted to the second guiding mirror 19, the light beam is reflected by the second guiding mirror 19 and then is incident to the second theodolite 20, and an imaging cross light spot is formed in the second theodolite 20;
and adjusting the posture of the second guide mirror 19 to enable the imaging cross light spot to move to the center position of a cross line in the second theodolite 20, and fixing the second guide mirror 19 through a positioning pin to finish the assembly and calibration of the second guide mirror 19.
Further, the sub-optical path 13 and the card antenna 14 are fixed together to form a whole, and the whole method includes:
integrally mounting an auto-collimation dynamic target sub-optical path 13 and a card antenna 14 on a sub-optical path calibration tool 1, wherein the calibration tool 1 is fixed on a horizontal optical platform 4;
mounting a reference reflector 2 at a reserved position of a 14-time mirror of the card-type optical antenna;
the collimator 3 is controlled to emit light beams to be incident on the reference reflector 2, the light beams are reflected back to the collimator 3 by the reference reflector 2, and the light beams are incident on the collimator camera 24 after being incident on the collimator 3 to form imaging light spots;
adjusting the posture of the sub-optical path assembling and correcting tool 1 to enable the imaging light spot to be located at the center of the field of view of the collimator camera 24, and completing the optical axis calibration of the card type antenna 14 and the collimator 3;
the internal structure of the sub-optical path 13 is calibrated.
The invention solves the problem of high difficulty in assembling and calibrating the existing auto-collimation dynamic target. The method has the specific beneficial effects that:
1. compared with the prior art, the coaxial alignment of the guide mirror and the sub-optical path is realized by using the double theodolites, and the operation of ensuring the consistency of the optical axis by continuously moving the collimator is not needed.
2. According to the double theodolite calibrating method for the auto-collimation dynamic target, only the double theodolites are needed to calibrate, and the rotation angle of one theodolite is determined, so that the technical requirements on operators are greatly reduced, the operating efficiency is improved, and meanwhile, the influence on the calibrating efficiency and accuracy caused by unskilled professional skills of the calibrating operators is effectively avoided.
The invention is suitable for the calibration operation of the auto-collimation dynamic target, can be applied to the technical field of processing and manufacturing of the auto-collimation dynamic target, and can also be applied to the technical field of test and test of the auto-collimation dynamic target.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a dual theodolite-based auto-collimation dynamic target optical calibration method according to the present invention.
Fig. 2 is a schematic diagram of a sub-optical path calibration method according to an embodiment.
Fig. 3 is a schematic diagram of the internal structure of the sub-optical path 13 according to the eighth embodiment.
Fig. 4 is an optical path diagram of the sub-optical path 13 according to the eighth embodiment.
In the figure: the sub-optical path calibration fixture 1, a reference reflector 2, a collimator 3, a horizontal mounting platform 4, a sub-optical path 13, a card antenna 14, a rotating optical axis 15, a test reference reflector 16, a first theodolite 17, a rocker 18, a second guide mirror 19, a second theodolite 20, a first guide mirror 21, a sub-optical path mounting plate 22, a collimator camera 24, a test reference reflector mounting boss 25 in the rotating optical axis and an auto-collimation dynamic target calibration fixture 26.
The sub-optical path 13 includes: the laser receiving camera 5, the laser receiving lens 6, the laser receiving reflector 7, the spectroscope 8, the deflection mirror 9, the infrared spectroscope 10, the laser transmitting unit 11, the infrared transmitting unit 12 and the sub-optical path mounting frame 23.
Detailed Description
Various embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The embodiments described by referring to the drawings are exemplary and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The present embodiment is described with reference to fig. 1 and 2. The embodiment describes an auto-collimation dynamic target optical calibration method based on a dual theodolite, which is to realize the coaxial calibration of a light guide lens and a sub-optical path of the auto-collimation dynamic target by adopting the dual theodolite, and the calibration method comprises the following steps:
step one, fixing a rotating optical axis 15 through an auto-collimation dynamic target calibration tool 26, and completing optical axis consistency calibration of a test reference reflector 16 and the rotating optical axis 15 by adopting a first theodolite 17 in combination with the test reference reflector 16, wherein the posture of the first theodolite 17 is A;
step two, adjusting the first theodolite 17 to rotate 45 degrees to change the attitude C; adjusting and determining the position and initial attitude B of the second theodolite 20;
step three, installing a first light guide lens 21, adjusting the gesture of the first light guide lens 21 through a second theodolite 20, and calibrating the included angle between the first light guide lens 21 and a rotating optical axis 15 to finish the installation and calibration of the first light guide lens 21; at the moment, the gesture of the second theodolite is D;
step four, the first guiding mirror 21 and the test reference mirror 16 are detached;
fifthly, integrally mounting the sub-optical path 13 and the card antenna 14 at the left end of the revolving optical axis 15, adjusting the posture of the first theodolite 17 to be restored to the posture A, and calibrating the postures of the sub-optical path 13 and the card antenna 14 through the first theodolite 17 to finish the assembly and calibration of the sub-optical path 13 and the card antenna 14;
step six, taking down the reference reflector 2; the first guide mirror 21 is mounted to the original position and fixed by a mounting positioning pin;
and step seven, installing a second light guide lens 19, and adjusting the posture of the second light guide lens 19 through the combination of the first theodolite 17 and the second theodolite 20 to finish the installation and calibration of the second light guide lens 19.
The self-collimation dynamic target structure assembled and calibrated by the embodiment is shown in fig. 1: the sub-optical path 13 is fixedly connected with the card antenna 14 through a sub-optical path mounting plate 22, the card antenna 14 is embedded and fixed in a rotating optical axis 15, the rotating optical axis 15 is coaxially connected with a rocker arm 18 through a bearing, the bearing inner ring is connected with a rotating optical axis outer ring, the bearing outer ring is connected with the rocker arm 18 inner ring, the rocker arm 18 rotates relative to the card antenna 14, and a first light guide lens mounting position and a second light guide lens mounting position are arranged on the rocker arm 18 and are respectively used for fixing a first light guide lens 21 and a second light guide lens 19.
In this embodiment, the calibration is completed by using a dual theodolite (a first theodolite 17 and a second theodolite 20), and the theodolite may be a lycra theodolite.
The entire sub-optical path 13 and the card antenna 14 described in this embodiment are an integral structure after assembly and calibration. The sub-optical path 13 and the card antenna 14 are assembled and calibrated by the existing method.
In the calibration method of this embodiment, first, the first theodolite is used to complete the optical axis consistency calibration of the rotating optical axis 15 and the test reference reflector 16, where the position of the test reference reflector 16 is the position of the secondary mirror in the card antenna 14. The position and initial pose B of the second theodolite 20 is then determined by the first theodolite 17; then, the first light guide mirror 21 is calibrated by two theodolites, and then the second light guide mirror 19 is calibrated.
Compared with the prior art, the method does not need to use a collimator and the operation of moving the collimator for many times, and the operation is halved.
In the method, after the first theodolite determines the position, the pitching angle is only required to be adjusted, the position of the second theodolite is determined through the first theodolite 17, the operation is simple, the technical skill requirement on an operator is low, and the phase loading and correcting rate and the loading and correcting accuracy can be effectively ensured.
In a second embodiment, the method for calibrating an auto-collimation dynamic target optical system based on a dual theodolite according to the first embodiment is illustrated as a method for implementing the first step, where the first step includes:
fixing the rotating optical axis 15 on an auto-collimation dynamic target calibration tool 26;
a test reference mirror 16 is fixed on a boss 25 of a fixed reference mirror provided inside the rotation optical axis 15;
the first theodolite 17 is arranged on the right side of the rotating optical axis 15 and kept in a horizontal posture, and then the position and the posture of the first theodolite are adjusted so that the light beam emitted by the first theodolite 17 is reflected by the reference reflector 16 and then is incident into the first theodolite 17 again to form an imaging cross light spot;
controlling the rotation of the rotating optical axis 15 until the imaging cross light spot in the first theodolite 17 moves to the center position of the cross line of the imaging cross light spot, and completing the optical axis consistency calibration of the reference reflector 16 and the rotating optical axis 15; at this time, the first theodolite 17 and the test reference reflector 16 have the same optical axis, the posture of the first theodolite 17 at this time is marked as A, and the azimuth and the pitching value of the posture A are recorded.
In the third embodiment, in the auto-collimation dynamic target optical calibration method based on the dual theodolites in the first embodiment, the implementation method of the second step is illustrated, and the specific method of the second step is as follows:
the azimuth of the first theodolite 17 is rotated 45 degrees to be changed into an attitude C, the second theodolite 20 is adjusted to be in a horizontal attitude, the position and the attitude of the second theodolite 20 are adjusted, the light beam emitted by the first theodolite 17 is made to be incident into the second theodolite 20 and form an imaging cross light spot, the imaging cross light spot is made to move to the center position of a cross line of the second theodolite 20, at the moment, the attitude of the second theodolite 20 is an initial attitude B, and the azimuth and the pitching value under the attitude are recorded.
In the method for calibrating the auto-collimation dynamic target optical system based on the dual theodolites according to the first embodiment, the implementation method of the third step is illustrated, and the specific method of the third step is as follows:
adjusting the azimuth rotation of the second theodolite 20 by 45 degrees so as to lead the second theodolite to point to the installation position of the first guide mirror 21;
mounting a first guide mirror 21 at the first guide mirror mounting position;
controlling the second theodolite 20 to emit light beams, so that the light beams reflected by the first guiding mirror 21 are incident to the second theodolite 20 to form imaging cross light spots, adjusting the gesture of the first guiding mirror 21 until the cross light spots move to the center position of the center reticle of the second theodolite 20, and completing the calibration of the included angle between the first guiding mirror 21 and the rotating optical axis 15; at this time, the first guide mirror 21 has an angle of 45 ° with the rotation optical axis 15, and this posture can effectively ensure positioning accuracy at the time of resetting.
The optical path length of the light output emitted by the second theodolite 20 is: the emitted light beam is incident on the first guide mirror 21, reflected on the test reference mirror 16, and then incident on the first guide mirror 21 again, reflected on the first guide mirror 21, and then incident on the second theodolite 20.
In a fifth embodiment, in the auto-collimation dynamic target optical calibration method based on the dual theodolites according to the first embodiment, the implementation method of the fifth step is illustrated, and the specific method of the fifth step is as follows:
the sub-optical path 13 and the clip antenna 14 are integrally arranged at the left end of the rotary optical axis 15, at the moment, the back of the clip antenna 14 secondary mirror is provided with a reference reflector 2, the positions of the reference reflector 2 and the test reference reflector 16 are different, the reference reflector 2 is arranged at the reserved position of the back of the clip antenna secondary mirror, a truss structure is arranged in the rotary optical axis 15, and the center of the truss structure is provided with an installation boss 25 for installing the test reference reflector 16;
the attitude of the first theodolite 17 is adjusted to be an attitude A, and then a light beam is emitted, so that the light beam is reflected by the reference reflector 2 on the card antenna 14 and an imaging cross light spot is formed in the first theodolite 17;
by adjusting the integral postures of the sub-optical path 13 and the clamp antenna 14 until the imaging cross light spot moves to the center position of the cross line of the first theodolite 17, at the moment, the optical axis of the sub-optical path 13 coincides with the optical axis of the theodolite 17, the optical axis calibration of the optical axis of the sub-optical path and the rotating shaft is realized, and the assembly calibration of the sub-optical path 13 and the clamp antenna 14 is completed.
In a sixth embodiment, in the auto-collimation dynamic target optical calibration method based on the dual theodolites in the first embodiment, an implementation method of the step seven is illustrated, and the specific method of the step seven is as follows:
the reference reflector 2 is removed, and a second guide mirror 19 is arranged at the mounting position of the first guide mirror of the rocker 18;
rotating the first theodolite 17 by 60 ° to become a posture F;
adjusting the posture of the second theodolite 20 so that the imaging cross light spot received by the second theodolite 20 is positioned at the center of the cross line of the second theodolite 20, and at this time, the position and the posture of the second theodolite 20 are E;
rotating the angle of the second theodolite 20 by 120 degrees to form a posture H, so that the emitted light beam is aligned with the second guiding mirror 19;
the sub-optical path 13 emits a light beam, the light beam is reflected by the first guiding mirror 21 and then emitted to the second guiding mirror 19, the light beam is reflected by the second guiding mirror 19 and then is incident to the second theodolite 20, and an imaging cross light spot is formed in the second theodolite 20;
and adjusting the posture of the second guide mirror 19 to enable the imaging cross light spot to move to the center position of a cross line in the second theodolite 20, wherein the included angle between the second guide mirror 19 and the rotating optical axis 15 is 45 degrees, and fixing the second guide mirror 19 through a locating pin to finish the assembly and calibration of the second guide mirror 19.
In the auto-collimation dynamic target optical calibration method based on the dual theodolites in the seventh embodiment, the sub-optical path 13 and the card antenna 14 are fixed together to form a whole, and the whole is realized by adopting the existing calibration method. The embodiment provides a method for assembling and calibrating:
after the auto-collimation dynamic target sub-optical path 13 and the card antenna 14 are fixedly connected through a sub-optical path mounting plate, the auto-collimation dynamic target sub-optical path is fixed on a sub-optical path calibration fixture 1, and the calibration fixture 1 is fixed on a horizontal optical platform 4;
mounting a reference reflector 2 at a reserved position of a 14-time mirror of the card-type optical antenna;
the collimator 3 is controlled to emit light beams to be incident on the reference reflector 2, the light beams are reflected back to the collimator 3 by the reference reflector 2, and the light beams are incident on the collimator camera 24 after being incident on the collimator 3 to form imaging light spots;
adjusting the posture of the sub-optical path assembling and correcting tool 1 to enable the imaging light spot to be located at the center of the view field of the collimator camera 24, and enabling the card antenna 14 to coincide with the optical axis of the collimator 3 at the moment, so as to finish the optical axis calibration of the card antenna 14 and the collimator 3;
the internal structure of the sub-optical path 13 is calibrated.
The light beam emitted by the collimator 3 may be implemented by using visible light, for example: the light beam with the wavelength of 600nm is adopted, and the light beam with visible light is more convenient for observing the light path in the assembling and calibrating process.
The collimator may be a multi-focal plane collimator.
In the second embodiment, the method for calibrating the internal structure of the sub-optical path 13 in the auto-collimation dynamic target optical calibration method based on the dual theodolite is illustrated, and the method is as follows:
the postures of the laser receiving reflector 7 and the spectroscope 8 are respectively adjusted, so that the light beams emitted by the collimator 3 are positioned at the center of the lens when reaching the laser receiving reflector 7 and the spectroscope 8;
the deflection mirror 9 and the infrared spectroscope 10 are installed, and the postures of the deflection mirror 9 and the infrared spectroscope 10 are respectively adjusted, so that light beams emitted by the collimator 3 are positioned in the center of the lens when reaching the installation deflection mirror 9 and the infrared spectroscope 10 respectively;
assembling and correcting the whole laser receiving unit, and determining the posture of the whole laser receiving unit;
installing an infrared emission unit 12, adjusting the posture of the infrared emission unit 12 and the integral posture of the infrared emission unit and the infrared spectroscope 10, and finishing the assembly and calibration of the infrared emission unit 12 and the infrared spectroscope 10;
installing and adjusting the posture of the laser emission unit 11, and performing assembling and calibrating to finish assembling and calibrating the inside of the sub-optical path 13;
the process of adjusting the posture of the laser emitting unit 11 is as follows: the posture of the collimator camera is adjusted so that the emitted light beam is incident into the collimator camera 24 through the sub-light path 13 and the card antenna 14 to form an imaging light spot which is positioned at the center of the field of view of the collimator camera 24, and the posture adjustment is completed.
Referring to fig. 3 and 4, the structure of the sub-optical path according to this embodiment is shown, where the laser emission unit 11 emits a light beam to one side of the infrared beam splitter 10, the infrared emission unit 12 emits an infrared light beam to the other side of the infrared beam splitter 10, after the laser emission unit 11 emits the light beam to the infrared beam splitter 10, the light beam transmitted by the infrared beam splitter 10 and the infrared light beam refracted by the infrared beam splitter 10 form a light beam, the light beam is emitted to the deflection mirror 9, the deflection mirror 9 reflects the incident light and sends the reflected light beam to the beam splitter 8, the light beam reflected by the beam splitter 8 is sent to the laser receiving mirror 7, the light beam reflected by the laser receiving mirror 7 is sent to the laser receiving camera 5, the light beam transmitted by the beam splitter 8 is imaged in the laser receiving camera 5, and then sent to the card antenna 14.
The laser receiving camera 5, the laser receiving mirror 7, the spectroscope 8, the deflection mirror 9, the infrared spectroscope 10, the laser transmitting unit 11 and the infrared transmitting unit 12 are all fixed on the mounting frame 23, wherein the laser receiving lens 6 of the laser receiving camera 5 faces the reflecting surface of the laser receiving mirror 7.
In a ninth embodiment, the steps in the auto-collimation dynamic target optical calibration method based on a dual theodolite according to the eighth embodiment are illustrated, and the method for calibrating the whole laser receiving unit in the embodiment is as follows:
adjusting the integral posture of the laser receiving unit to enable an imaging light spot of the light beam emitted by the collimator 3 in the laser receiving camera 5 to be positioned at the center of the field of view;
and adjusting the focal plane of the laser receiving camera 5 to enable the focal plane to coincide with the lens focal plane of the laser receiving lens 6, thus completing the assembly and calibration of the laser receiving unit.
In the tenth embodiment, the steps of the auto-collimation dynamic target optical calibration method based on the dual theodolites described in the eighth embodiment are illustrated, and in the present embodiment, the calibration method of the infrared emission unit 12 and the infrared spectroscope 10 is as follows:
adjusting the posture of the infrared emission unit 12 so that the emitted light beam forms an imaging light spot in the collimator camera 24, and keeping the relative positions of the infrared emission unit 12 and the infrared spectroscope 10 unchanged;
and adjusting the integral postures of the infrared emission unit 12 and the infrared spectroscope 10 to enable the imaging light spots to move to the center of the field of view of the collimator camera 24, and completing the assembly and calibration of the infrared emission unit 12 and the infrared spectroscope 10.
Claims (5)
1. The method is characterized in that the method adopts the double theodolites to realize the coaxial alignment of the guide mirror and the sub-optical path of the auto-collimation dynamic target, and the alignment method comprises the following steps:
fixing a rotating optical axis (15) through an auto-collimation dynamic target calibration tool (26), and completing optical axis consistency calibration of a test reference reflector (16) and the rotating optical axis (15) by adopting a first theodolite (17) in combination with the test reference reflector (16), wherein the posture of the first theodolite (17) is A;
step two, adjusting the first theodolite (17) to rotate 45 degrees to change the attitude C; adjusting and determining the position and initial attitude B of the second theodolite (20);
step three, installing a first guide mirror (21), adjusting the gesture of the first guide mirror (21) through a second theodolite (20), and calibrating the included angle between the first guide mirror (21) and a rotating optical axis (15), thereby completing the installation and calibration of the first guide mirror (21); the second theodolite (20) has a posture D at this time;
step four, detaching the first guide mirror (21) and the test reference mirror (16);
fifthly, integrally mounting the sub-optical path (13) and the card antenna (14) at the left end of the rotating optical axis (15), adjusting the posture of the first theodolite (17) to be recovered to the posture A, and calibrating the postures of the sub-optical path (13) and the card antenna (14) through the first theodolite (17) to finish the assembly and calibration of the sub-optical path (13) and the card antenna (14);
step six, taking down the reference reflector (2); the first guide mirror (21) is installed to an original position and fixed through an installation positioning pin;
step seven, installing a second guide mirror (19), and adjusting the posture of the second guide mirror (19) through the combination of the first theodolite (17) and the second theodolite (20), so as to finish the installation and calibration of the second guide mirror (19);
the specific method of the first step is as follows:
fixing the rotating optical axis (15) on an auto-collimation dynamic target assembling and calibrating tool (26);
a test reference mirror (16) is fixed on a boss (25) of the fixed test reference mirror (16) arranged inside the rotating optical axis (15);
the first theodolite (17) is arranged on the right side of the rotating optical axis (15) and kept in a horizontal posture, and then the position and the posture of the first theodolite are adjusted so that a light beam emitted by the first theodolite (17) is reflected by the test reference reflector (16) and then is incident into the first theodolite (17) again to form an imaging cross light spot;
controlling the rotation of the rotating optical axis (15) until an imaging cross light spot in the first theodolite (17) moves to the center position of a cross line of the imaging cross light spot, and completing the optical axis consistency calibration of the test reference reflector (16) and the rotating optical axis (15); marking the attitude of the first theodolite (17) at the moment as A, and recording the azimuth and pitching values of the attitude A;
the specific method of the second step is as follows:
the azimuth of the first theodolite (17) is rotated 45 degrees to form an attitude C, the second theodolite (20) is adjusted to be in a horizontal attitude, the light emitted by the first theodolite (17) enters the second theodolite (20) and forms an imaging cross light spot by adjusting the position and the attitude of the second theodolite (20), the imaging cross light spot is moved to the center position of a cross line of the second theodolite (20), and at the moment, the attitude of the second theodolite (20) is an initial attitude B, and the azimuth and pitching values under the attitude are recorded;
the specific method of the third step is as follows:
adjusting the azimuth rotation of the second theodolite (20) by 45 degrees to lead the second theodolite to point to the installation position of the first guide mirror (21);
-mounting a first guiding mirror (21) at the mounting position;
controlling the second theodolite (20) to emit light beams, enabling the light beams reflected by the first guide mirror (21) to be incident to the second theodolite (20) to form imaging cross light spots, adjusting the gesture of the first guide mirror (21) until the cross light spots move to the center position of a center cross line of the second theodolite (20), and completing the calibration of the included angle between the first guide mirror (21) and the rotating optical axis (15); at this time, the posture D of the first guide mirror (21);
the specific method of the fifth step is as follows:
integrally mounting the sub-optical path (13) and the card antenna (14) to the left end of the rotating optical axis (15);
the attitude of a first theodolite (17) is adjusted to be an attitude A, and then a light beam is emitted, so that the light beam is reflected by a reference reflector (2) on a card antenna (14) and an imaging cross light spot is formed in the first theodolite (17);
the integral postures of the sub-optical path (13) and the clamp antenna (14) are adjusted until the imaging cross light spot moves to the center position of the cross line of the first theodolite (17), so that the optical axis of the sub-optical path (13) is calibrated with the optical axis of the rotating optical axis (15), and the assembly and calibration of the sub-optical path (13) are completed;
the specific method of the step seven is as follows:
the reference reflector (2) is taken down, and the second guide mirror (19) is arranged at the mounting position of the first guide mirror of the rocker arm (18);
rotating the first theodolite (17) by 60 degrees to become a posture F;
adjusting the posture of a second theodolite (20) so that an imaging cross light spot received by the second theodolite (20) is positioned at the center of a cross line of the second theodolite (20), and at the moment, the position and the posture of the second theodolite (20) are E;
rotating the angle of the second theodolite (20) by 120 degrees to form a posture H, so that the emitted light beam is aligned with a second guide mirror (19);
the sub-optical path (13) emits a light beam, the light beam is reflected by the first guide mirror (21) and then emitted to the second guide mirror (19), the light beam is reflected by the second guide mirror (19) and then enters the second theodolite (20), and an imaging cross light spot is formed in the second theodolite (20);
and adjusting the posture of the second guide mirror (19) to enable the imaging cross light spot to move to the center position of a cross line in the second theodolite (20), and fixing the second guide mirror (19) through a locating pin to finish the assembly and calibration of the second guide mirror (19).
2. A method of auto-collimation dynamic target optical calibration based on dual theodolites according to claim 1, characterized in that the sub-optical path (13) and the card antenna (14) are fixed together to form a whole, said whole being calibrated by the following method:
integrally mounting an auto-collimation dynamic target sub-optical path (13) and a card antenna (14) on a sub-optical path calibration tool (1), wherein the calibration tool (1) is fixed on a horizontal optical platform (4);
installing a reference reflector (2) at a reserved position of a secondary mirror of the card antenna (14);
controlling the collimator (3) to emit light beams to be incident to the reference reflector (2), reflecting the light beams back to the collimator (3) through the reference reflector (2), and then entering the collimator (3) to the collimator camera (24) to form imaging light spots;
adjusting the posture of the sub-optical path assembling and correcting tool (1) to enable the imaging light spot to be located at the center of the view field of the collimator camera (24), and finishing the optical axis calibration of the card type antenna (14) and the collimator (3);
and (3) carrying out assembly correction on the internal structure of the sub-optical path (13).
3. The method for calibrating the auto-collimation dynamic target optical based on the double theodolites according to claim 2, wherein the method for calibrating the internal structure of the sub-optical path (13) is as follows:
the postures of the laser receiving reflector (7) and the spectroscope (8) are respectively adjusted, so that light beams emitted by the collimator (3) are respectively positioned at the central positions of the laser receiving reflector (7) and the spectroscope (8);
the method comprises the steps of installing a deflection mirror (9) and an infrared spectroscope (10), and respectively adjusting the postures of the deflection mirror and the infrared spectroscope, so that light beams emitted by a collimator (3) are positioned in the center of a lens when reaching the installation deflection mirror (9) and the infrared spectroscope (10) respectively;
assembling and correcting the whole laser receiving unit, and determining the posture of the whole laser receiving unit;
installing an infrared emission unit (12), adjusting the posture of the infrared emission unit (12) and the integral posture of the infrared emission unit and an infrared spectroscope (10), and finishing the assembly and calibration of the infrared emission unit (12) and the infrared spectroscope (10);
installing and adjusting the posture of the laser emission unit (11), and performing assembling and calibrating to finish assembling and calibrating the inside of the sub-optical path (13); the process for adjusting the posture of the laser emission unit (11) comprises the following steps: the posture of the collimator is adjusted so that the emitted light beam is incident into the collimator camera (24) through the sub-light path (13) and the card antenna (14) to form an imaging light spot which is positioned at the center of the field of view of the collimator camera (24), and the posture adjustment is completed.
4. The method for calibrating the auto-collimation dynamic target optics based on the dual theodolites according to claim 3, wherein the method for calibrating the whole laser receiving unit is as follows:
adjusting the integral posture of the laser receiving unit to enable an imaging facula of a light beam emitted by the collimator (3) in the laser receiving camera (5) to be positioned at the center of a field of view;
and adjusting the focal plane of the laser receiving camera (5) to enable the focal plane to coincide with the lens focal plane of the laser receiving lens (6), and thus completing the assembly and calibration of the laser receiving unit.
5. A method for calibrating an auto-collimation dynamic target optical system based on a dual theodolite according to claim 3, wherein the method for calibrating the infrared emission unit (12) and the infrared spectroscope (10) comprises the following steps:
adjusting the posture of the infrared emission unit (12) so that the emitted light beam forms an imaging light spot in the collimator camera (24), and keeping the relative position of the infrared emission unit (12) and the infrared spectroscope (10) unchanged;
and adjusting the integral postures of the infrared emission unit (12) and the infrared spectroscope (10) to enable the imaging light spot to move to the center position of the view field of the collimator camera (24), and completing the assembly and calibration of the infrared emission unit (12) and the infrared spectroscope (10).
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