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CN111708031B - A laser radar - Google Patents

A laser radar Download PDF

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Publication number
CN111708031B
CN111708031B CN202010637496.9A CN202010637496A CN111708031B CN 111708031 B CN111708031 B CN 111708031B CN 202010637496 A CN202010637496 A CN 202010637496A CN 111708031 B CN111708031 B CN 111708031B
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CN
China
Prior art keywords
quadrant
receiving
laser radar
telescope
optical axis
Prior art date
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Active
Application number
CN202010637496.9A
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Chinese (zh)
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CN111708031A (en
Inventor
陈超
王章军
李辉
潘新
段依然
庄全风
李先欣
王秀芬
张锋
赵阳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Institute of Oceanographic Instrumentation Shandong Academy of Sciences
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Institute of Oceanographic Instrumentation Shandong Academy of Sciences
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Application filed by Institute of Oceanographic Instrumentation Shandong Academy of Sciences filed Critical Institute of Oceanographic Instrumentation Shandong Academy of Sciences
Priority to CN202010637496.9A priority Critical patent/CN111708031B/en
Publication of CN111708031A publication Critical patent/CN111708031A/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention discloses a laser radar, which comprises a laser, a telescope and a four-quadrant shading mechanism, wherein the four-quadrant shading mechanism comprises four-quadrant shading plates, a rotating mechanism and a control system, the four-quadrant shading plates are arranged on a lens barrel of the telescope and positioned above a light receiving window of the telescope, the four-quadrant shading plates comprise four shading plates which are respectively used for correspondingly shading four subareas of the light receiving window, the four subareas are divided into four quadrants by two mutually perpendicular diameters of the light receiving window, the rotating mechanism is connected with the four-quadrant shading plates and respectively controls the four shading plates to rotate and independently open and close, and the control system is used for controlling the running state of the rotating mechanism so as to realize collimation of a light receiving and transmitting axis. The laser radar can complete the calibration task of the transmitting optical axis and the receiving optical axis by adopting the uniformity detection of the four-quadrant receiving signals of the telescope, and can realize the automatic collimation of the receiving and transmitting optical axes of the laser radar under the unattended condition.

Description

Laser radar
Technical Field
The invention belongs to the technical field of detection equipment, and particularly relates to a laser radar.
Background
The laser radar is active remote sensing monitoring equipment and has the advantages of high space-time resolution, high measurement accuracy and the like. In a laser radar system, collimation of a receiving and transmitting optical axis is a key for ensuring the receiving efficiency of laser radar signals. In actual operation of the lidar, the emission optical axis of the laser device deviates from the receiving optical axis of the telescope due to temperature change, environmental vibration, laser shake and the like, so that the efficiency of the received signal is reduced and the signal is distorted, and therefore, the laser radar needs to be calibrated on the receiving and transmitting optical axes regularly. The collimation of the transmitting and receiving optical axes is that the transmitting optical axis is parallel to the receiving optical axis for paraxial laser radars, and the transmitting optical axis is coaxial to the receiving optical axis for coaxial laser radars.
The laser radar transmitting and receiving optical axis calibration method mainly comprises two kinds of manual calibration and automatic calibration. The manual calibration is the most common collimation method, but an operator is required to have a certain professional background and light path adjustment experience, the adjustment process is tedious and time-consuming, and the collimation accuracy adjusted by visual measurement data is difficult to be ensured.
The automatic calibration method is basically to adjust the direction of the emitted light beam by using a two-dimensional electronically controlled reflector frame, and two common methods are mainly adopted:
when the emission optical axis and the receiving optical axis are aligned, the laser beam firstly passes through a spectroscope with high transmission-reflection ratio (transmission: reflection) to reflect a small part of light as reference light before being emitted to the atmosphere, then the reference light is incident on a fixed photoelectric detector, and the detector marks the position as the alignment position of the optical axis. When the emission optical axis deviates, the position of the reference light on the photoelectric detector also deviates, and at the moment, the angle of the reflecting mirror can be adjusted through the electric control reflector frame, so that the direction of the emission light is adjusted, the position of the reference light on the photoelectric detector is just adjusted to the alignment position of the mark, and the alignment operation is completed. However, this method has a problem of misjudging the misalignment of the optical axis due to the deviation of the spectroscope.
And the other is that the two-dimensional electronic control reflector frame is used for adjusting the emitted laser to scan along the two mutually perpendicular diameter directions of the telescope, a certain height is selected as a reference height, the change of a reference height signal in the scanning process is observed, and the maximum position of the reference height receiving signal is respectively taken as the optimal position of the two directions to determine the collimation of the emitted optical axis and the receiving optical axis. But this method is greatly affected by the laser motion trajectory and the reference height.
Disclosure of Invention
Experiments show that the calibration of the receiving and transmitting optical axes of the laser radar can be realized through the uniformity detection of the four quadrants of the telescope of the laser radar, therefore, the invention provides the laser radar with an improved structure, through design four-quadrant shading mechanism on the telescope of laser radar, can control the telescope and independently receive the atmosphere echo signal respectively on four quadrants, adjust the direction of emission optical axis through the signal of comparing central symmetry quadrant, and then realize receiving and dispatching the automatic calibration of optical axis.
In order to solve the technical problems, the invention is realized by adopting the following technical scheme:
A laser radar comprises a laser for emitting laser beams, a reflecting mirror for emitting the laser beams into the atmosphere, an adjustable electric control mirror bracket for mounting the reflecting mirror thereon, a telescope, a receiving light path system and a four-quadrant shading mechanism; the adjustable electronic control mirror bracket is used for adjusting the angle or the position of a reflecting mirror so as to change the emergent direction of a laser beam to the atmosphere, the emergent direction is the direction of a laser radar transmitting optical axis, the telescope comprises a lens barrel, a receiving optical window is arranged in the lens barrel and is used for receiving echo signals of the laser beam transmitted to the atmosphere, the receiving optical path system converts the echo signals received by the telescope into electric signals, the four-quadrant shading mechanism comprises four-quadrant shading plates, a rotating mechanism and a control system, wherein the four-quadrant shading plates are arranged on the lens barrel of the telescope and are positioned above the receiving optical window and comprise four shading plates which are respectively used for correspondingly shading four subareas of the receiving optical window, the four subareas are divided into four quadrants by two mutually perpendicular diameters of the receiving optical window, the rotating mechanism is connected with the four-quadrant shading plates and respectively controls the four-quadrant shading plates to rotate and independently open and close, and close when the transmitting optical axis and the receiving optical axis are calibrated, the control system controls the rotating mechanism to drive the four-quadrant shading plates to open in different time periods, and the receiving optical axis is controlled by the control the four-quadrant shading plates to receive the electric signals, and the laser radar transmitting optical axis can be adjusted according to the receiving optical axis, and the adjustable optical axis can be adjusted.
In some embodiments of the application, the four quadrants are preferably defined that the first quadrant and the second quadrant are in a central symmetry relationship, the third quadrant and the fourth quadrant are in a central symmetry relationship, when the laser radar performs calibration of the transmitting optical axis and the receiving optical axis, the control system takes the shielding plates corresponding to the first quadrant and the second quadrant as a group, controls the two shielding plates to be opened in a time sharing and only way through the rotating mechanism, enables the telescope to independently receive echo signals through the first quadrant and the second quadrant respectively, and collects receiving signals of the first quadrant and the second quadrant through the receiving optical path system, the control system controls the adjustable electric control mirror bracket to act according to the receiving signals of the first quadrant and the second quadrant, so as to adjust the direction of the receiving signals of the laser radar in a small quadrant until the receiving signals of the first quadrant are equivalent to the receiving signals of the second quadrant, and controls the control system to control the movement of the laser radar in a time sharing and only way through the rotating mechanism, so that the telescope can respectively collect the receiving signals of the third quadrant and the fourth quadrant through the receiving signals independently, and the fourth quadrant receiving signals until the fourth quadrant receiving signals are equivalent to the fourth quadrant receiving signals, and the adjustable electric control mirror bracket can adjust the direction of the laser radar to act according to the receiving signals of the fourth quadrant receiving the small quadrant. Thereby completing the calibration process of the transceiving optical axis.
In some embodiments of the present application, when the lidar is a paraxial lidar, the four quadrants are further defined to satisfy the following relationship in a virtual rectangular coordinate system, where the virtual rectangular coordinate system is established in a plane where a receiving light window of the telescope is located, an origin of the virtual rectangular coordinate system is a center of the receiving light window, a y-axis passes through a center of a laser beam emitted to atmosphere by the lidar under a condition of collimation of a receiving and transmitting optical axis, the first quadrant and the second quadrant are respectively in axisymmetric areas with respect to an x-axis of the virtual rectangular coordinate system, and the third quadrant and the fourth quadrant are respectively in axisymmetric areas with respect to a y-axis of the virtual rectangular coordinate system.
In some embodiments of the present application, when the laser radar enters normal operation after the calibration of the transmitting optical axis and the receiving optical axis, the control system controls the rotation mechanism to drive the four light shielding plates to be opened completely, and the whole receiving optical window of the telescope is used for receiving echo signals.
In some embodiments of the present application, the laser radar further has a capability of collecting a background signal, that is, when the laser radar obtains the background signal, the rotation mechanism is controlled to drive the four light shielding plates to be closed completely, and the receiving optical path system collects an optical signal received by the telescope and generates a corresponding electrical signal as the background signal. The background signal may be used as an indicator for evaluating the performance of the lidar.
In some embodiments of the application, the four-quadrant shading mechanism further comprises a support plate mounted on a barrel of the telescope, a bearing surface being formed above the barrel, the rotation mechanism being mounted on the bearing surface of the support plate. Through the design the layer board can be convenient the installation of slewing mechanism on the telescope is laid and whole dismantlement.
In some embodiments of the present application, the rotating mechanism is preferably provided with four groups, each group is correspondingly connected with the four light-shielding plates, each group of rotating mechanism comprises a rotating shaft, a positioning seat, a motor, a driving wheel and a driven wheel, wherein the rotating shaft is connected with one of the light-shielding plates, the positioning seat is installed on a bearing surface of the supporting plate, a bearing is installed on the positioning seat, the rotating shaft is installed in the bearing, the motor is installed on the supporting plate, the control system controls the running state of the motor, the driving wheel is connected with the motor shaft, the motor drives the driving wheel to rotate, the driven wheel is meshed with the driving wheel and is connected with the rotating shaft in a shaft mode, and when the motor drives the driving wheel to rotate, the driving wheel is driven to rotate, and then the light-shielding plates are driven to open and close.
In some embodiments of the present application, the motor is preferably mounted below the bearing surface of the supporting plate, and the driving shaft of the motor extends to above the bearing surface through the bearing surface and is connected with the driving wheel in an axle mode, so that the axis of the driving wheel is perpendicular to the axis of the driven wheel, and the rotating shaft can be arranged parallel to the light receiving window of the telescope, and further, large-area connection between the rotating shaft and the light shielding plate is achieved, which is helpful for improving the stability of the opening and closing process of the light shielding plate.
In some embodiments of the present application, four sets of rotating mechanisms are disposed on four sides of the bearing surface of the supporting plate, in each set of rotating mechanisms, the rotating shaft is parallel to the bearing surface of the supporting plate, and the positioning seats are disposed on two ends of the rotating shaft, so that stability of the shutter opening and closing process is further ensured by improving supporting force of the positioning seats on the rotating shaft and the shutter.
In some embodiments of the present application, the laser radar further includes a beam expander and a transmitting system carrier, where the beam expander is configured to compress a divergence angle of a laser beam emitted by the laser and then transmit the compressed divergence angle to the reflecting mirror, the transmitting system carrier is mounted on a lens barrel of the telescope and located at one side of the telescope, and the laser, the beam expander, the reflecting mirror and the adjustable electric control mirror bracket are all mounted on the transmitting system carrier, so as to facilitate overall design of the laser radar in structure, and further facilitate overall movement and transportation of the laser radar. The lidar may be configured as a coaxial lidar or a paraxial lidar by adjusting the adjustable electronically controlled mount.
In some embodiments of the present application, the control system preferably includes an acquisition card, an industrial personal computer and a driving circuit, where the acquisition card is used to acquire an electrical signal output by the receiving optical path system and convert the electrical signal into a digital signal, the industrial personal computer receives the digital signal output by the acquisition card and generates control signals for controlling the rotation mechanism and the adjustable electronic control mirror bracket to act, and the driving circuit receives the control signals output by the industrial personal computer to drive the rotation mechanism and the adjustable electronic control mirror bracket to act. Thus, the laser radar has the function of automatically calibrating the receiving optical axis and the transmitting optical axis.
Compared with the prior art, the four-quadrant shielding mechanism is designed on the telescope of the laser radar, so that the receiving light window of the telescope can respectively receive the atmospheric echo signals in the four-quadrant areas of the telescope. When the four quadrants of the telescope are all opened, the laser radar can work normally, when the four quadrants of the telescope are all closed, the laser radar can collect background signals, when the laser radar performs calibration of a transmitting optical axis and a receiving optical axis, the atmospheric echo signals of the four quadrants can be used for providing adjustment basis for the direction of the transmitting optical axis of the laser radar, and when the atmospheric echo signals of two groups of quadrants with symmetrical centers are basically the same, the collimation of the transmitting optical axis of the laser radar is realized. The laser radar of the invention realizes the calibration of the laser radar transmitting optical axis and the receiving optical axis by utilizing the uniformity detection of the four quadrants of the telescope, has simple method and convenient use, is beneficial to improving the working efficiency and the operation convenience of the laser radar, can realize the automatic collimation of the receiving and transmitting optical axis under the unattended condition, can realize the acquisition of the laser radar background signal, and provides a basis for the performance evaluation.
Other features and advantages of the present invention will become more apparent from the following detailed description of embodiments of the present invention, which is to be read in connection with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of an embodiment of a lidar according to the present invention;
FIG. 2 is a schematic diagram of an embodiment of the four-quadrant shading mechanism in FIG. 1;
FIG. 3 is a schematic diagram of the correspondence between the four-quadrant division of a telescope of a paraxial lidar and the position of a laser beam exiting to the atmosphere, according to an embodiment;
Fig. 4 is a flow chart of one embodiment of a lidar transceiver axis calibration process.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings.
It should be noted that, in the description of the present invention, terms such as "upper", "lower", "inner", "outer", and the like, which indicate directions or positional relationships are based on directions or positional relationships shown in the drawings, are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, the lidar of the present embodiment mainly includes two parts of a laser emitting system 10 and an optical receiving system. The laser emission system 10 mainly comprises a laser 11, a beam expander 12, a reflector 13, an adjustable electric control mirror bracket 14 and the like. The optical receiving system mainly comprises a telescope 20 and a subsequent receiving optical path system 23.
To facilitate the integrated assembly of the laser transmitter system 10 and the optical receiver system to facilitate the overall movement or handling of the lidar, the present embodiment preferably mounts the laser transmitter system 10 on a transmitter system carrier plate 15, as shown in fig. 1. Wherein the laser 11 is preferably mounted in a biased lower position of the emitting system carrier plate 15 for emitting a laser beam. The beam expander 12 is located above the laser 11, and is configured to compress a divergence angle of the laser beam emitted by the laser 11 to form a laser beam having a certain diameter, and incident on the reflecting mirror 13. The reflecting mirror 13 may be one or more, and is mounted on the adjustable electronic control mirror holder 14, and is used for reflecting the laser beam incident thereon and then emitting the laser beam to the atmosphere. The angle or position of the reflecting mirror 13 can be adjusted by utilizing the adjustable electric control mirror bracket 14, so that the emergent direction of the laser beam to the atmosphere is changed.
The launch system carrier 15 is mounted on the telescope 20, preferably on the barrel 21 of the telescope 20, on one side of the telescope 20, as shown in fig. 1. The adjustable electric control mirror holder 14 is controlled to moderately adjust the angle or position of the reflecting mirror 13 so that the outgoing direction of the laser beam (i.e., the direction of the transmitting optical axis of the laser radar) is parallel to the receiving optical axis of the telescope 20, so that a paraxial laser radar can be formed, and if the outgoing direction of the laser beam is adjusted to be coaxial with the receiving optical axis of the telescope 20, a coaxial laser radar can be formed. For the laser radar structure shown in fig. 1, if a coaxial laser radar is formed, a set of reflectors can be added on the basis of the laser radar structure shown in fig. 1.
A light receiving window 22 is provided in a lens barrel 21 of the telescope 20, as shown in fig. 1 and 3. In a typical case, the receiving optical window 22 is circular, receives the echo signal of the laser beam 16 after being incident on the atmosphere, and gathers the echo signal to the subsequent receiving optical path system 23 to convert the optical signal into an electrical signal. The intensity of the received optical signal can be reflected by the magnitude of the electric signal, and the target with the preset height can be detected by utilizing the existing radar signal detection method according to the electric signal output by the receiving optical path system 23.
Considering that collimation of a receiving and transmitting optical axis is a key for ensuring the receiving efficiency of a laser radar signal in a laser radar system, the transmitting optical axis and the receiving optical axis of the laser radar need to be calibrated. Experiments prove that the uniformity detection of the four-quadrant receiving signals of the telescope of the laser radar is a mode for realizing the calibration of the receiving and transmitting optical axes of the laser radar. In order to apply this calibration method to the lidar of the present embodiment, the present embodiment firstly improves the structure of the existing lidar, and adds the four-quadrant light shielding mechanism 30 to divide the light receiving window 22 of the telescope 20 into four areas to form four quadrants for independently receiving the atmospheric echo signals, thereby meeting the uniformity detection requirements of the four quadrants for receiving the signals.
As shown in fig. 1 and 2, the four-quadrant light shielding mechanism 30 of the present embodiment mainly includes a four-quadrant light shielding plate, a rotation mechanism, a control system, and the like.
In this embodiment, the four-quadrant light-shielding plate is preferably mounted on the lens barrel 21 of the telescope 20 above the light-receiving window 22, and preferably includes four light-shielding plates 31, 32, 33, 34, as shown in fig. 2. The four light-shielding plates 31, 32, 33, 34 can be designed to have the same shape, for example, a triangle-like shape, and after being spliced, the light-receiving window 22 of the telescope 20 is completely covered.
The four shielding areas formed by the four shielding plates 31, 32, 33, 34 on the receiving light window 22 of the telescope 20 are configured to coincide with exactly four partitions divided by two mutually perpendicular diameters of the receiving light window 22, as shown in fig. 3, and then the receiving light window 22 is divided into four quadrants. Wherein the first quadrant I is blocked by the blocking plate 31, the second quadrant II is blocked by the blocking plate 32, the third quadrant III is blocked by the blocking plate 33, and the fourth quadrant IV is blocked by the blocking plate 34. The first quadrant I and the second quadrant II are configured to be in a central symmetry relationship, and the third quadrant III and the fourth quadrant IV are configured to be in a central symmetry relationship.
For coaxial lidar, the positional relationship of the four quadrants is sufficient as long as the above configuration requirements are satisfied.
For the paraxial lidar, the positional relationship of the four quadrants needs to be further limited in addition to meeting the above configuration requirements, specifically, a virtual rectangular coordinate system may be established on the plane where the receiving optical window 22 of the telescope is located, as shown in fig. 3, where the origin of the virtual rectangular coordinate system is the center O of the receiving optical window 22, and the y-axis passes through the center O' of the laser beam 16 that is emitted to the atmosphere by the lidar under the condition of collimation of the receiving optical axis. According to the principle of determining a straight line at two points, the y-axis direction and thus the x-axis direction can be determined by using the center O of the receiving window 22 and the center O' of the laser beam 16. In the case of the region division, the first and second quadrants I and II are arranged to be axisymmetric about the x-axis of the virtual rectangular coordinate system (i.e., the sectors corresponding to the first and second quadrants I and II are axisymmetric about the x-axis for the circular receiving light window 22), and the third and fourth quadrants III and IV are arranged to be axisymmetric about the y-axis of the virtual rectangular coordinate system (i.e., the sectors corresponding to the third and fourth quadrants III and IV are axisymmetric about the y-axis for the circular receiving light window 22).
In order to facilitate the mounting and fixing of the four-quadrant visor on the lens barrel 21 of the telescope 20, the present embodiment preferably first mounts the four-quadrant visor on a pallet 35, as shown in fig. 2. The carrier 35 is preferably designed in the form of a ring, the central opening region facing the light-receiving window 22 of the telescope 20. The four light shielding plates 31, 32, 33, 34 are circumferentially and sequentially arranged on the bearing surface formed by the supporting plate 35, and the middle opening area of the supporting plate 35 is shielded after being spliced.
The support plate 35 is preferably formed with a plurality of downward flanges 36, two of which are formed on opposite sides of the support plate 35, and four of which are formed around the support plate 35.
When installed, the support plate 35 is placed on the upper edge of the lens barrel 21 of the telescope 20, and the downward flange 36 of the support plate 35 is at least partially attached to the side wall of the lens barrel 21, as shown in fig. 1. The turndown 36 is connected with the side wall of the lens barrel 21 by a fastening bolt 37 in a threaded manner, so that the supporting plate 35 is mounted and fixed on the lens barrel 21.
In this embodiment, the transmission mechanism may be composed of a main part such as a rotating shaft 41, a positioning seat 42, a driving wheel 44, a driven wheel 43, a motor 45, etc., as shown in fig. 2, and is used for controlling the opening and closing of the four shielding plates 31, 32, 33, 34.
As a preferred embodiment, a conventional mechanism may be provided separately for each shutter, that is, a conventional mechanism may perform opening and closing control of only one shutter. Four sets of transmission mechanisms are respectively arranged on four sides of the supporting plate 35 and correspond to the positions of the four shielding plates 31, 32, 33 and 34 one by one.
In each set of drives, the shaft 41 is preferably arranged parallel to the bearing surface of the pallet 35, as shown in fig. 2. The outer side of the shielding plate 31/32/33/34 is fixed on the rotating shaft 41, and the shielding plate 31/32/33/34 is driven to be opened or closed by the rotation of the rotating shaft 41 in different directions.
In each set of transmission mechanism, two positioning seats 42 are preferably arranged, are mounted on the bearing surface of the supporting plate 35, and are positioned at two ends of the rotating shaft 41. Each positioning seat 42 is respectively provided with a bearing, and two ends of the rotating shaft 41 are correspondingly arranged in the bearings of the two positioning seats 42, so that the rotating shaft 41 and the positioning seats 42 form a rotation connection relationship.
In each set of transmission means, the motor 45, the driving wheel 44 and the driven wheel 43 are preferably provided in one set. Wherein the motor 45 is preferably mounted at the bottom of the pallet 35 with the drive shaft 46 of the motor 45 extending through the pallet 35 to above the bearing surface of the pallet 35. The driving wheel 44 is mounted on the driving shaft 46 of the motor 45, the axis of the driving wheel 44 and the axis of the driven wheel 43 are arranged to be perpendicular to each other, the driving wheel 44 is meshed with the driven wheel 43, and the driven wheel 43 is connected with the rotating shaft 41 in a shaft way. When the motor 45 rotates, the driving wheel 44 rotates along with the driving shaft 46 of the motor 45 to drive the driven wheel 43 to rotate, so as to drive the rotating shaft 41 to rotate, and the shutter 31/32/33/34 is controlled to open and close.
In this embodiment, the control system is used to control the operation state of the motor 45, including start-stop control, steering control, rotation angle control, and the like.
As a preferred embodiment, the control system is preferably composed of a pickup card, an industrial personal computer, a driving circuit, and the like, which are not shown in the figure. The acquisition card can be connected with the receiving optical path system 23 and is used for acquiring the electric signals output by the receiving optical path system 23, converting the electric signals into corresponding digital signals and transmitting the corresponding digital signals to the industrial personal computer.
The industrial personal computer is used as a control core of the whole laser radar, on one hand, generates a control signal, sends the control signal to a driving circuit to drive a motor 45 to operate so as to realize opening and closing control of shielding plates 31, 32, 33 and 34, on the other hand, determines the adjustment direction and angle of a transmitting optical axis of the laser radar according to a digital signal output by an acquisition card, further generates a corresponding control signal, controls an adjustable electric control mirror bracket 14 to act through the driving circuit so as to adjust the angle or position of a reflecting mirror 13 so as to realize adjustment of the transmitting optical axis, and on the other hand, stores the digital signal output by the acquisition card after collimation operation of the transmitting and receiving optical axis of the laser radar is finished and is put into normal use, and utilizes the existing radar signal detection method to generate a detection result according to the digital signal, and stores and displays the detection result.
The calibration process of the transmitting optical axis and the receiving optical axis will be specifically described with reference to the lidar having the structure shown in fig. 1 to 3. As shown in fig. 4, the following procedure is included:
S401, starting a laser emission system to emit a laser beam to the atmosphere.
S402, selecting a comparison height interval H1 for the first quadrant I and the second quadrant II;
In this embodiment, according to the four-quadrant division method of this embodiment, no matter it is a coaxial lidar or a paraxial lidar, when the comparison height section H1 is selected for the first quadrant I and the second quadrant II, only the height with better signal-to-noise ratio and no cloud needs to be selected. For example, 1km to 4km may be selected as the comparative altitude section H1, that is, the start position m=1 km of the comparative altitude and the end position n=4 km of the comparative altitude. Of course, other intervals can be selected, and the requirement that n-m is more than or equal to 2km can be met.
The contrast height interval of the signals can be selected according to actual weather conditions, and the signal-to-noise ratio is high and the cloud-free height is suitable.
S403, controlling the shielding plate 31 to rotate upwards for 90 degrees to open, receiving an atmospheric echo signal through a receiving light window of the telescope 20 in the first quadrant I, and collecting a receiving signal of each distance point I in the contrast height section H1 to form receiving data S 1 (I);
In this embodiment, the shutter 31 may be controlled to be opened first, and the remaining shutters 32 to 34 may be closed. At this time, the atmospheric echo signal is received by the receiving optical window of the telescope 20 in the first quadrant I, transmitted to the receiving optical path system 23, generated into an electrical signal corresponding to the intensity of the received optical signal, collected by the collection card, generated into receiving data, and transmitted to the industrial personal computer for recording.
As a preferred embodiment, the industrial personal computer presets a set time T (for example, t=1 minute), collects the received data for each distance point i in the comparison altitude section H1 for a plurality of times in the set time T, and then performs accumulation, averaging and background removal processing on the received data collected in the set time T to generate the received data S 1 (i) of the distance point i. The distance difference between two adjacent distance points can be determined according to the distance resolution of the laser radar acquired data.
The background removing process is in the prior art, and the removed signals comprise radar background noise, optical signals in the atmosphere and the like. The radar noise floor can be obtained by the following modes:
The industrial personal computer drives the motor 45 to operate through the driving circuit, the four light shielding plates 31-34 are all closed, the light signals collected by the telescope 20 are received through the receiving light path system 23 and converted into corresponding electric signals, and after the corresponding electric signals are collected and converted by the collecting card, background signals of the laser radar, namely, radar background noise are formed.
After the collection of the received data S 1 (i), the shutter 31 is controlled to be rotated downward by 90 ° to be closed.
S404, controlling the shielding plate 32 to rotate upwards for 90 degrees to open, receiving an atmospheric echo signal through a receiving light window of the telescope 20 in a second quadrant II, and collecting a receiving signal of each distance point i in a comparison altitude interval H1 to form receiving data S 2 (i);
In this embodiment, the shutter 32 can be controlled to be turned up by 90 ° to open, and the remaining shutters 31, 33, 34 to close. At this time, the atmospheric echo signal is received by the receiving optical window of the telescope 20 in the second quadrant II, transmitted to the receiving optical path system 23, generated into an electrical signal corresponding to the intensity of the received optical signal, collected by the collection card, generated into receiving data, and transmitted to the industrial personal computer for recording.
The industrial personal computer respectively collects received data for each distance point i for a plurality of times in a set time T in a comparison height interval H1, and then performs accumulation, averaging and background removal processing on the received data collected in the set time T to generate received data S 2 (i) of the distance point i.
After the acquisition of the received data S 2 (i), the shutter 32 is controlled to be rotated downward by 90 ° to be closed.
S405, calculating root mean square difference sigma 12 of S 1 (i) and S 2 (i);
the received data S 1 (i) and S 2 (i) are substituted into the following root mean square difference calculation formula to calculate the root mean square difference σ 12:
S406, if sigma 12 is smaller than or equal to the set collimation threshold, the emission optical axis is not required to be adjusted in the direction of the first quadrant I and the second quadrant II, and the process jumps to S409;
In this embodiment, the collimation threshold should ideally be 0. In the actual process, the optical axis collimation accuracy can be specifically determined according to the optical axis collimation accuracy required by a user.
S407, if sigma 12 is larger than the set collimation threshold, calculating average values of S 1 (i) and S 2 (i), and respectively marking the average values as S' 1、S'2;
In this embodiment, the received data S 1 (i) for all the distance points i in the height section H1 may be accumulated and averaged to generate S' 1. Similarly, the received data S 2 (i) for all the distance points i in the comparative altitude section H1 are accumulated and averaged to generate S' 2.
S408, comparing S '1 with S' 2, adjusting the adjustable electric control mirror bracket 14 to enable the direction of the emitted light to be inclined towards the second quadrant II if S '1>S'2, and adjusting the electric control mirror bracket 14 to enable the direction of the emitted light to be inclined towards the first quadrant I if S' 1<S'2;
in this embodiment, the action of the adjustable electronic control mirror holder 14 can be adjusted by the industrial personal computer cooperating with the driving circuit, so that the direction of the emitted light of the laser radar is inclined towards the first quadrant I or the second quadrant II.
In order to improve the adjustment speed and accuracy, the present embodiment sets the adjustment step number B1, adjusts the emission optical axis step by step according to the adjustment step number B1, and repeatedly executes the processes S403 to S408 after each adjustment until the adjustment process of the emission optical axis in the direction of the first quadrant I and the second quadrant II is ended when σ 12 is less than or equal to the set collimation threshold.
In this embodiment, the adjustment step number B1 is preferably set in a proportional relationship with |s 1'-S'2 | to shorten the calibration time of the transceiver optical axis.
S409, selecting a comparison height section H2 for the third quadrant III and the fourth quadrant IV;
In this embodiment, according to the four-quadrant division method of the present embodiment, in the case of the paraxial lidar, since the paraxial lidar has a blind area Overlap at a contrast height, the received signals of the two quadrants III and IV in the y-axis direction are different in the Overlap region. Since the third quadrant III is closer to the emitted laser beam 16, its received signal in the Overlap region will be higher than that in the Overlap region of the fourth quadrant IV, and therefore the Overlap region will be avoided when comparing the two quadrant signals in the y-axis direction.
Assuming that the height of the Overlap area is RO, a distance above RO may be selected to form a pair-wise height section H2. For example, ro+1km to ro+3km may be selected as the comparative altitude section H2, that is, the start position m=ro+1km of the comparative altitude, and the end position n=ro+3km of the comparative altitude. Of course, other intervals can be selected, and the requirements that N is more than M is more than RO and N-M is more than or equal to 2km are met.
If the coaxial lidar is used, when the comparison height interval H2 is selected for the third quadrant III and the fourth quadrant IV, only the height with better signal to noise ratio is needed to be selected, and the influence of the blind area Overlap is not needed to be considered.
S410, controlling the shielding plate 33 to rotate upwards for 90 degrees to open, receiving an atmospheric echo signal through a receiving light window of the telescope 20 in a third quadrant III, and collecting a receiving signal of each distance point i in a comparison altitude interval H2 to form receiving data S 3 (i);
In this embodiment, the shutter 33 can be controlled to be turned up by 90 ° to open, and the remaining shutters 31, 32, 34 to close. At this time, the atmospheric echo signal is received by the receiving optical window of the telescope 20 in the third quadrant III, transmitted to the receiving optical path system 23, generated into an electrical signal corresponding to the intensity of the received optical signal, collected by the collection card, generated into receiving data, and transmitted to the industrial personal computer for recording.
The industrial personal computer respectively collects received data for each distance point i for a plurality of times in a set time T in a comparison height interval H2, and then performs accumulation, averaging and background removal processing on the received data collected in the set time T to generate received data S 3 (i) of the distance point i.
After the collection of the received data S 3 (i), the shutter 33 is controlled to be rotated downward by 90 ° to be closed.
S411, controlling the shielding plate 34 to rotate upwards for 90 degrees to open, receiving an atmospheric echo signal through a receiving light window of the telescope 20 in a fourth quadrant IV, and collecting a receiving signal of each distance point i in a comparison altitude interval H2 to form receiving data S 4 (i);
In this embodiment, the shutter 34 can be controlled to be turned upwards by 90 ° to open, the remaining shutters 31, 32, 33 being closed. At this time, the atmospheric echo signal is received by the receiving optical window of the telescope 20 in the fourth quadrant IV, transmitted to the receiving optical path system 23, generated into an electrical signal corresponding to the intensity of the received optical signal, collected by the collection card, generated into receiving data, and transmitted to the industrial personal computer for recording.
The industrial personal computer respectively collects received data for each distance point i for a plurality of times in a set time T in a comparison height interval H2, and then performs accumulation, averaging and background removal processing on the received data collected in the set time T to generate received data S 4 (i) of the distance point i.
After the acquisition of the received data S 4 (i), the shutter 34 is controlled to be turned downward by 90 ° to be closed.
S412, calculating root mean square difference sigma 34 of S 3 (i) and S 4 (i);
The received data S 3 (i) and S 4 (i) are substituted into the following root mean square difference calculation formula to calculate the root mean square difference σ 34:
s413, if sigma 34 is less than or equal to the set collimation threshold, the emission optical axis is not required to be adjusted in the direction of the third quadrant III and the fourth quadrant IV, and the process jumps to S416;
In this embodiment, the collimation threshold should ideally be 0. In the actual process, the optical axis collimation accuracy can be specifically determined according to the optical axis collimation accuracy required by a user. The collimation threshold here may be set to be the same as or different from the collimation threshold in the process S406.
S414, if sigma 34 is larger than the set collimation threshold, calculating average values of S 3 (i) and S 4 (i), and respectively marking the average values as S' 3、S'4;
In this embodiment, the received data S 3 (i) for all the distance points i in the height section H2 may be accumulated and averaged to generate S' 3. Similarly, the received data S 4 (i) for all the distance points i within the comparative altitude section H2 are accumulated and averaged to generate S' 4.
S415, comparing S '3 with S' 4, if S '3>S'4, adjusting the adjustable electric control mirror bracket 14 to enable the direction of the emitted light to be inclined towards the fourth quadrant IV, and if S' 3<S'4, adjusting the adjustable electric control mirror bracket 14 to enable the direction of the emitted light to be inclined towards the third quadrant III;
In this embodiment, the action of the adjustable electronic control mirror holder 14 can be adjusted by the industrial personal computer cooperating with the driving circuit, so as to tilt the direction of the emitted light of the laser radar toward the third quadrant III or the fourth quadrant IV.
In order to improve the adjustment speed and accuracy, the present embodiment sets the adjustment step number B2, adjusts the emission optical axis step by step according to the adjustment step number B2, and after each adjustment, repeatedly performs the processes S410 to S415 until the adjustment process of the emission optical axis in the direction of the third quadrant III and the fourth quadrant IV is ended when σ 34 is less than or equal to the set collimation threshold.
In this embodiment, the adjustment step number B2 is preferably set in a proportional relationship with |s' 3-S'4 | to shorten the calibration time of the transceiver optical axis.
S416, the calibration process of the transmitting optical axis and the receiving optical axis of the laser radar is finished.
The calibration sequences of the two directions can be interchanged in the whole process of calibrating the transceiving optical axis.
The laser radar of the embodiment has the advantages of simple structure, convenient use, high automation degree, good optical axis calibration precision and high calibration efficiency, and can play an important role in promoting the business application of the laser radar.
The foregoing is, of course, merely a preferred embodiment of the invention, and it should be noted that modifications and adaptations of the invention will occur to one skilled in the art and are intended to be comprehended within the scope of the invention without departing from the principles of the invention.

Claims (9)

1.一种激光雷达，包括：1. A laser radar, comprising: 激光器，其用于发射激光光束；A laser for emitting a laser beam; 反射镜，其用于将激光光束射入到大气中；A reflector, which is used to direct the laser beam into the atmosphere; 可调电控镜架，其上安装所述反射镜，用于调节所述反射镜的角度或位置，以改变激光光束向大气的出射方向，所述出射方向为激光雷达发射光轴的方向；An adjustable electrically controlled mirror frame, on which the reflector is mounted, for adjusting the angle or position of the reflector to change the emission direction of the laser beam into the atmosphere, wherein the emission direction is the direction of the laser radar emission optical axis; 望远镜，其包括镜筒，镜筒内设置有接收光窗，用于接收激光光束发射到大气后的回波信号；The telescope comprises a lens barrel, in which a receiving light window is arranged for receiving an echo signal after the laser beam is emitted into the atmosphere; 接收光路系统，其将所述望远镜接收到的回波信号转换成电信号；A receiving optical path system, which converts the echo signal received by the telescope into an electrical signal; 其特征在于，还包括四象限遮光机构，其包括：It is characterized in that it also includes a four-quadrant shading mechanism, which includes: 四象限遮光板，其安装在所述望远镜的镜筒上，位于所述接收光窗的上方，其包括四块遮光板，分别用于对应遮挡所述接收光窗的四个分区，所述四个分区以接收光窗的两个相互垂直的直径划分而成，形成四个象限；A four-quadrant shading plate, which is installed on the lens barrel of the telescope and is located above the receiving light window, and includes four shading plates, which are respectively used to block four partitions of the receiving light window, and the four partitions are divided by two mutually perpendicular diameters of the receiving light window to form four quadrants; 转动机构，其连接所述四象限遮光板，分别控制所述四块遮光板转动，独立开合；A rotating mechanism connected to the four-quadrant shading plates, and controlling the four shading plates to rotate and open and close independently; 控制系统，其在进行发射光轴与接收光轴校准时，控制所述转动机构驱动所述四块遮光板在不同的时间段唯一打开，并通过所述接收光路系统接收所述望远镜四个象限的电信号，根据所述电信号控制所述可调电控镜架调节所述反射镜，进而调节激光光束的出射方向，使激光雷达的收发光轴准直；A control system, which controls the rotating mechanism to drive the four shading plates to be opened only in different time periods when calibrating the transmitting optical axis and the receiving optical axis, receives electrical signals from the four quadrants of the telescope through the receiving optical path system, controls the adjustable electrically controlled mirror frame to adjust the reflector according to the electrical signal, and further adjusts the emission direction of the laser beam to align the receiving and transmitting optical axis of the laser radar; 其中，在所述四个象限中，第一象限与第二象限呈中心对称关系，第三象限与第四象限呈中心对称关系；Among the four quadrants, the first quadrant is centrally symmetrical with the second quadrant, and the third quadrant is centrally symmetrical with the fourth quadrant; 所述激光雷达在进行发射光轴与接收光轴校准时，When the laser radar is calibrating the transmitting optical axis and the receiving optical axis, 所述控制系统将第一象限和第二象限所对应的遮挡板作为一组，通过所述转动机构控制两个遮挡板分时且唯一打开，使望远镜分别通过其第一象限和第二象限单独接收回波信号，并通过所述接收光路系统采集第一象限和第二象限的接收信号；所述控制系统根据所述第一象限和第二象限的接收信号控制所述可调电控镜架动作，以调节激光雷达的发射光轴向接收信号小的象限方向倾斜，直到第一象限的接收信号与第二象限的接收信号相当；The control system takes the shielding plates corresponding to the first quadrant and the second quadrant as a group, and controls the two shielding plates to be opened in a time-sharing and unique manner through the rotating mechanism, so that the telescope receives echo signals through its first quadrant and the second quadrant respectively, and collects the receiving signals of the first quadrant and the second quadrant through the receiving optical path system; the control system controls the movement of the adjustable electrically controlled mirror frame according to the receiving signals of the first quadrant and the second quadrant, so as to adjust the transmission optical axis of the laser radar to tilt toward the quadrant with a smaller receiving signal, until the receiving signal of the first quadrant is equivalent to the receiving signal of the second quadrant; 所述控制系统将第三象限和第四象限所对应的遮挡板作为一组，通过所述转动机构控制两个遮挡板分时且唯一打开，使望远镜分别通过其第三象限和第四象限单独接收回波信号，并通过所述接收光路系统采集第三象限和第四象限的接收信号；所述控制系统根据所述第三象限和第四象限的接收信号控制所述可调电控镜架动作，以调节激光雷达的发射光轴向接收信号小的象限方向倾斜，直到第三象限的接收信号与第四象限的接收信号相当。The control system takes the shielding plates corresponding to the third quadrant and the fourth quadrant as a group, and controls the two shielding plates to open in a time-sharing and unique manner through the rotating mechanism, so that the telescope receives echo signals through its third quadrant and fourth quadrant respectively, and collects the receiving signals of the third quadrant and the fourth quadrant through the receiving optical path system; the control system controls the movement of the adjustable electrically-controlled mirror frame according to the receiving signals of the third quadrant and the fourth quadrant, so as to adjust the transmitting optical axis of the laser radar to tilt toward the quadrant with a smaller receiving signal, until the receiving signal of the third quadrant is equivalent to the receiving signal of the fourth quadrant. 2.根据权利要求1所述的激光雷达，其特征在于，当所述激光雷达为旁轴激光雷达时，所述四个象限在一虚拟直角坐标系中满足以下关系：2. The laser radar according to claim 1, characterized in that when the laser radar is a paraxial laser radar, the four quadrants satisfy the following relationship in a virtual rectangular coordinate system: 所述虚拟直角坐标系建立在所述望远镜的接收光窗所在平面内，其中，所述虚拟直角坐标系的原点为接收光窗的中心，y轴穿过激光雷达在收发光轴准直情况下出射至大气的激光光束的中心；The virtual rectangular coordinate system is established in the plane where the receiving light window of the telescope is located, wherein the origin of the virtual rectangular coordinate system is the center of the receiving light window, and the y-axis passes through the center of the laser beam emitted to the atmosphere by the laser radar when the receiving and receiving light axes are collimated; 所述第一象限和第二象限分别关于虚拟直角坐标系的x轴呈轴对称区域；The first quadrant and the second quadrant are respectively axisymmetric regions about the x-axis of the virtual rectangular coordinate system; 所述第三象限和第四象限分别关于虚拟直角坐标系的y轴呈轴对称区域。The third quadrant and the fourth quadrant are respectively axisymmetric regions with respect to the y-axis of the virtual rectangular coordinate system. 3.根据权利要求1所述的激光雷达，其特征在于，3. The laser radar according to claim 1, characterized in that: 所述控制系统在发射光轴与接收光轴校准完毕、激光雷达进入正常工作时，控制所述转动机构驱动所述四块遮光板全部打开，利用所述望远镜的整个接收光窗接收回波信号；When the emission optical axis and the receiving optical axis are calibrated and the laser radar enters normal operation, the control system controls the rotating mechanism to drive all four shading plates to open, and uses the entire receiving optical window of the telescope to receive the echo signal; 所述激光雷达在获取背景信号时，控制所述转动机构驱动所述四块遮光板全部关闭；所述接收光路系统采集望远镜接收到的光信号，并生成相应的电信号作为所述背景信号。When the laser radar acquires the background signal, it controls the rotating mechanism to drive all four shading plates to close; the receiving optical path system collects the optical signal received by the telescope and generates a corresponding electrical signal as the background signal. 4.根据权利要求1至3中任一项所述的激光雷达，其特征在于，所述四象限遮光机构还包括：4. The laser radar according to any one of claims 1 to 3, characterized in that the four-quadrant shading mechanism further comprises: 托板，其安装在所述望远镜的镜筒上，在所述镜筒的上方形成承载面，所述转动机构安装在所述托板的承载面上。A support plate is mounted on the lens barrel of the telescope, and a bearing surface is formed above the lens barrel. The rotating mechanism is mounted on the bearing surface of the support plate. 5.根据权利要求4所述的激光雷达，其特征在于，所述转动机构包括四组，分别对应连接所述四块遮光板，每一组转动机构均包括：5. The laser radar according to claim 4, characterized in that the rotating mechanism comprises four groups, which are respectively connected to the four shading plates, and each group of rotating mechanisms comprises: 转轴，其连接其中一块遮挡板；A rotating shaft connected to one of the shielding plates; 定位座，其安装在所述托板的承载面上，其上安装有轴承，所述转轴安装于所述轴承中；A positioning seat, which is installed on the bearing surface of the support plate, and a bearing is installed on the positioning seat, and the rotating shaft is installed in the bearing; 电机，其安装在所述托板上，由所述控制系统控制其运行状态；A motor, which is mounted on the support plate and whose operating state is controlled by the control system; 主动轮，其与所述电机轴接，由所述电机驱动其转动；A driving wheel, which is connected to the motor shaft and driven to rotate by the motor; 从动轮，其与所述主动轮相啮合，并与所述转轴轴接，在所述电机驱动所述主动轮转动时，主动轮驱动所述从动轮转动，进而带动所述遮挡板开合。The driven wheel is meshed with the driving wheel and connected to the rotating shaft. When the motor drives the driving wheel to rotate, the driving wheel drives the driven wheel to rotate, thereby driving the shielding plate to open and close. 6.根据权利要求5所述的激光雷达，其特征在于，所述电机安装在所述托板的承载面的下方，电机的驱动轴穿过所述承载面延伸到承载面的上方并与所述主动轮轴接，所述主动轮的轴线与从动轮的轴线垂直。6. The laser radar according to claim 5 is characterized in that the motor is installed below the bearing surface of the support plate, the driving shaft of the motor passes through the bearing surface and extends to the top of the bearing surface and is connected to the driving wheel shaft, and the axis of the driving wheel is perpendicular to the axis of the driven wheel. 7.根据权利要求5所述的激光雷达，其特征在于，四组所述转动机构分置于所述托板的承载面的四边；在所述每一组转动机构中，所述转轴平行于所述托板的承载面；所述定位座均包括两个，分置于所述转轴的两端。7. The laser radar according to claim 5 is characterized in that the four groups of rotating mechanisms are disposed on the four sides of the bearing surface of the support plate; in each group of rotating mechanisms, the rotating shaft is parallel to the bearing surface of the support plate; and the positioning seats each include two, which are disposed at both ends of the rotating shaft. 8.根据权利要求1至3中任一项所述的激光雷达，其特征在于，还包括：8. The laser radar according to any one of claims 1 to 3, characterized in that it also includes: 扩束镜，其用于将所述激光器发射的激光光束的发散角进行压缩后，发射至所述反射镜；A beam expander, used for compressing the divergence angle of the laser beam emitted by the laser and then emitting it to the reflector; 发射系统载板，其安装在所述望远镜的镜筒上，位于望远镜的一侧；所述激光器、扩束镜、反射镜和可调电控镜架均安装在所述发射系统载板上；通过调整所述可调电控镜架将所述激光雷达配置成共轴激光雷达或旁轴激光雷达。The launch system carrier is installed on the barrel of the telescope and is located on one side of the telescope; the laser, beam expander, reflector and adjustable electrically controlled mirror frame are all installed on the launch system carrier; the laser radar is configured as a coaxial laser radar or a side-axis laser radar by adjusting the adjustable electrically controlled mirror frame. 9.根据权利要求1至3中任一项所述的激光雷达，其特征在于，所述控制系统包括：9. The laser radar according to any one of claims 1 to 3, characterized in that the control system comprises: 采集卡，其采集所述接收光路系统输出的电信号，并转换生成数字信号；An acquisition card, which acquires the electrical signal output by the receiving optical path system and converts it into a digital signal; 工控机，其接收所述采集卡输出的数字信号，并分别生成用于控制所述转动机构和可调电控镜架动作的控制信号；An industrial computer receives the digital signal output by the acquisition card and generates control signals for controlling the movement of the rotating mechanism and the adjustable electrically controlled mirror frame; 驱动电路，其接收所述工控机输出的控制信号，以驱动所述转动机构或可调电控镜架动作。The driving circuit receives the control signal output by the industrial computer to drive the rotating mechanism or the adjustable electric-controlled mirror frame to move.
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