CN105137415A - Device and method for laser rangefinder receiving field-of-view calibration and optical axis parallelism measurement - Google Patents
Device and method for laser rangefinder receiving field-of-view calibration and optical axis parallelism measurement Download PDFInfo
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- CN105137415A CN105137415A CN201510272002.0A CN201510272002A CN105137415A CN 105137415 A CN105137415 A CN 105137415A CN 201510272002 A CN201510272002 A CN 201510272002A CN 105137415 A CN105137415 A CN 105137415A
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- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
A device and a method for laser rangefinder receiving field-of-view calibration and optical axis parallelism measurement are provided. The invention relates to a device and method for laser rangefinder receiving center field-of-view calibration and field-of-view measurement. The device comprises a calibration light source, a beam shaping and precision adjusting component, a diffuse transmission plate, a power meter, a collimator, a laser ranging system to be tested, and an oscilloscope. The device and the method of the invention not only can be used to calibrate the field of view of a laser receiving center and measure the range of the receiving field of view, but also can be used to measure the parallelism between a transmitting optical axis and a receiving optical axis. The device and the method are mainly characterized in that calibration of the center field of view of a laser rangefinder, measurement of the field-of-view range and measurement of parallelism between the transmitting and receiving optical axes are realized by using an auxiliary calibration light source with high beam quality to produce simulated echo and scanning the receiving field of view.
Description
Technical field
The present invention relates to view calibration and measuring technique, refer to especially and a kind ofly carry out central vision based on secondary light source and demarcate and the apparatus and method accurately measured of field of view of receiver.
Background technology
Space long distance laser range measurement system is mainly used in the fields such as spaceborne laser-measured height over the ground, the measurement of space Small object, Technique in Rendezvous and Docking, laser emission angle is usually very little, microradian is to milliradian magnitude, in order to avoid background miscellaneous light is on the impact of detection sensitivity, receiving system field angle is also as far as possible little, and field of view of receiver must mate with transmitting visual field high precision, the reduction loss of backward energy and the reduction of detection probability when small optical axis included angle error all can cause long-range detection.Therefore field of view of receiver mates for space laser range measurement system with the high precision and high stability of launching visual field is extremely important.
For laser distance measuring system, launch the facula position that optical axis determines target range place, for ensureing high probability and the high s/n ratio of sounding, the hot spot launched must be received visual field and covered, the size of this visual field is generally determined by the optical design of receiving system, and the sensing angle of this visual field then determined by reception optical axis.Therefore, optical axis is received most important to laser range finder performance with the coaxial degree launching optical axis.Such as, in spaceborne laser distance measuring system over the ground, operating distance is generally 400km ~ 500km, the little deviation of laser transmitting-receiving optical axis included angle all can cause launch spot to deflect away from or part deflects away from field of view of receiver, thus cause echoed signal energy to decline and even lose, lower detection probability and system signal noise ratio; In the Small object great dynamic range laser distance measuring system of space, the little deviation of laser transmitting-receiving optical axis can cause launch spot and field of view of receiver deviation constantly to increase along with the increase of distance, therefore the BURN-THROUGH RANGE of this kind of system be can affect, detection probability and system signal noise ratio reduced.
Therefore, need time test is debug on laser distance measuring system ground to measure and calibration optical axis matching, make receive optical-mechanical system central vision and launch optical axis high registration accuracy, central vision and peripheral field are demarcated and measured.In addition, after system has been debug, experience various environmental experiment, indoor test, field testing, be subject to the environmental impact of various power, heat, electricity, detection parallelism of optical axis and receiving center visual field offset are very important for certainty annuity state accurately.
Existing method of testing is all the proving installation of matching degree for transmitting-receiving optical axis and method, and the proving installation that different laser distance measuring system adopts is all different with method, but does not still have pertinent literature for the demarcation of field of view of receiver and test.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of secondary light source utilizing long-focus collimator, accurate scale diffuse transmission plate and high light beam quality is provided, the high matching degree of the accurate measurement and transmitting-receiving optical axis that can realize offset is debug, compare other apparatus and method, high precision, quantitative measurment optical axis included angle and field range can be realized.
The object of the invention is achieved by following technical solution:
A kind of laser range finder measurement mechanism is provided, for laser range finder receiving center view calibration and measurement, or measure for laser range finder transmitting and receiving parallelism of optical axis, comprise auxiliary calibration light source, beam shaping and precision and adjust assembly, diffuse transmission plate, power meter, parallel light tube, testing laser range measurement system and oscillograph;
Described beam shaping comprises laser beam expanding camera lens, energy attenuator, laser plus lens and accurate adjustment rack form with the accurate assembly that adjusts; Expander lens, energy attenuator and plus lens are installed on three-dimensional precise adjustment rack; Diffuse transmission plate is placed on the focal plane of laser plus lens;
Described testing laser range measurement system comprises laser transmitter, receiving optics, detection and amplification system; Diffuse transmission plate is placed on the focal plane place of parallel light tube, forms hot spot after the laser that laser transmitter sends is converged by parallel light tube on diffuse transmission plate;
The laser beam that auxiliary calibration light source (1) sends, after the collimator and extender of laser beam expanding camera lens (201), the differential declines multiplying power of adjustment energy attenuator (202), be coupled in plus lens (203) again, diffuse transmission plate (3) forms hot spot, transfer to receiving optics (602) by parallel light tube (5), be sent to oscillograph (7) through detection and amplification system (603); During the luminous power P needing test to incide in parallel light tube (5), power meter (4) is placed between diffuse transmission plate (3) and parallel light tube (5), the distance of distance parallel light tube (5) focal plane is: d=D1*f/D2, D1 is effective Receiver aperture of power meter, D2 is the bore of parallel light tube, and f is the focal length of parallel light tube.
There is provided a kind of laser range finder to transmit and receive the method for parallelism of optical axis measurement simultaneously, comprise the steps:
1) after the transmitting-receiving optical-axis parallelism of testing laser range measurement system completes, open laser transmitter, after the laser sent is converged by parallel light tube, on diffuse transmission plate, form hot spot A by laser transmitter, the position of record hot spot A;
2) laser transmitter is closed, open auxiliary calibration light source, send laser beam, after the collimator and extender of laser beam expanding camera lens, be coupled to again in plus lens, diffuse transmission plate forms hot spot, adjust accurate adjustment rack, make hot spot converge to the center of diffuse transmission plate, the center of diffuse transmission plate is the center of parallel light tube focal plane;
3) power meter (4) is placed between diffuse transmission plate (3) and parallel light tube (5), the luminous power P in parallel light tube (5) is incided in detection, the distance of power meter (4) distance parallel light tube (5) focal plane is: d=D1*f/D2, wherein D1 is effective Receiver aperture of power meter (4), D2 is the bore of parallel light tube (5), and f is the focal length of parallel light tube (5); Calculate the analogue echo luminous power P ' that laser distance measuring system (6) receives, computing formula is as follows: P '=P*D3/D2, and wherein, D3 is laser distance measuring system (6) effectively Receiver aperture; Arrange decay multiplying power, the analogue echo luminous power P ' that laser distance measuring system (6) is received receives in the dynamic range of echo at it, opens energy attenuator (202), and withdraws power meter; The hot spot that adjustment three-dimensional precise adjustment rack (204) makes auxiliary calibration light source (1) be formed overlaps with the position of hot spot A, and diffuse transmission plate (3) produces the analogue echo of laser transmitter (601);
4) receiving optics, detection and amplification system and oscillograph is opened, regulate three-dimensional precise adjustment rack carry out respectively pitching and orientation to visual field scanning, the echo waveform that recording oscillometer collection detection and amplification system export, demarcation central vision corresponds to the analogue echo focus on diffuse transmission plate;
5) the analogue echo focus on calculating diffuse transmission plate and the relative displacement Δ d of Laser emission picture point, calculate the optical axis of echoed signal and the angle error of launching optical axis
6) Δ θ is in threshold range, be then judged to be that transmitting-receiving optical-axis parallelism is qualified; Δ θ exceedes setting threshold value, be then judged to be that transmitting-receiving optical-axis parallelism is defective, need readjust.
A kind of method of laser range finder receiving center view calibration and measurement is provided, comprises the steps:
1) after the transmitting-receiving optical-axis parallelism of testing laser range measurement system (6) completes, open laser transmitter (601), the laser sent by laser transmitter (601) above forms hot spot A at diffuse transmission plate (3) after being converged by parallel light tube (5), the position of record hot spot A;
2) laser transmitter (601) is closed, open auxiliary calibration light source (1), send laser beam, after the collimator and extender of laser beam expanding camera lens (201), be coupled in plus lens (203) again, diffuse transmission plate (3) forms hot spot, adjust accurate adjustment rack (204), make hot spot converge to the center of diffuse transmission plate (3), the center of diffuse transmission plate (3) is the center of parallel light tube focal plane;
3) power meter (4) is placed between diffuse transmission plate (3) and parallel light tube (5), the luminous power P in parallel light tube (5) is incided in detection, the distance of power meter (4) distance parallel light tube (5) focal plane is: d=D1*f/D2, wherein D1 is effective Receiver aperture of power meter (4), D2 is the bore of parallel light tube (5), and f is the focal length of parallel light tube (5); Calculate the analogue echo luminous power P ' that laser distance measuring system (6) receives, computing formula is as follows: P '=P*D3/D2, and wherein, D3 is laser distance measuring system (6) effectively Receiver aperture; Arrange decay multiplying power, the analogue echo luminous power P ' that laser distance measuring system (6) is received receives in the dynamic range of echo at it, opens energy attenuator (202), and withdraws power meter; The hot spot that adjustment three-dimensional precise adjustment rack (204) makes auxiliary calibration light source (1) be formed overlaps with the position of hot spot A, and diffuse transmission plate (3) produces the analogue echo of laser transmitter (601);
4) receiving optics (602), detection and amplification system (603) and oscillograph (7) is opened, regulate three-dimensional precise adjustment rack (204) carry out respectively pitching and orientation to visual field scanning, be specially: with hot spot A point for initial point, transverse axis is x-axis, vertical axes is y-axis, sets up plane right-angle coordinate; Make hot spot A along the orientation forward migration of y-axis, wave recording amplitude and pulsewidth, until no signal exports, record and demarcate location point B1 (0, y when waveform disappears on corresponding diffuse transmission plate (3)
b1) and amplitude is the highest time corresponding diffuse transmission plate (3) on location point B2 (0, y
b2); Then the opposite direction along y-axis offsets, and records and demarcates location point C1 (0, y when waveform disappears on corresponding diffuse transmission plate (3)
c1) and amplitude is the highest time corresponding diffuse transmission plate (3) on location point C2 (0, y
c2), skew along the x-axis direction, records and demarcates location point D1 (x when waveform disappears on corresponding diffuse transmission plate (3)
d1, 0), and location point D2 (x when amplitude is the highest on corresponding diffuse transmission plate (3)
d2, 0); Then the opposite direction along x-axis offsets, and records and demarcates location point E1 (x when waveform disappears on corresponding diffuse transmission plate (3)
e1, 0), and location point E2 (x when amplitude is the highest on corresponding diffuse transmission plate (3)
e2, 0); The relatively size of the corresponding amplitude of B2, A, C2 point, the ordinate that wherein amplitude maximum point is corresponding is y
max; The relatively size of the corresponding amplitude of D2, A, E2 point, the horizontal ordinate that wherein amplitude maximum point is corresponding is x
max; The coordinate of analog echo signal focus is (x
max, y
max);
5) carry out the calculating of field range, calculate x
d1-x
e1, y
b1-y
c1be respectively the field range of level and vertical both direction.
Wherein, step 4) in, regulate three-dimensional precise adjustment rack (204) carry out respectively pitching and orientation to visual field scanning, the echo waveform that recording oscillometer (7) collection detects and amplification system (603) exports, the concrete grammar demarcating the analogue echo focus that central vision corresponds on diffuse transmission plate (3) is: with hot spot A point for initial point, transverse axis is x-axis, and vertical axes is y-axis, sets up plane right-angle coordinate; Make hot spot A along the orientation forward migration of y-axis, wave recording amplitude and pulsewidth, until no signal exports, record and demarcate location point B1 (0, y when waveform disappears on corresponding diffuse transmission plate (3)
b1) and amplitude is the highest time corresponding diffuse transmission plate (3) on location point B2 (0, y
b2); Then the opposite direction along y-axis offsets, and records and demarcates location point C1 (0, y when waveform disappears on corresponding diffuse transmission plate (3)
c1) and amplitude is the highest time corresponding diffuse transmission plate (3) on location point C2 (0, y
c2), skew along the x-axis direction, records and demarcates location point D1 (x when waveform disappears on corresponding diffuse transmission plate (3)
d1, 0), and location point D2 (x when amplitude is the highest on corresponding diffuse transmission plate (3)
d2, 0); Then the opposite direction along x-axis offsets, and records and demarcates location point E1 (x when waveform disappears on corresponding diffuse transmission plate (3)
e1, 0), and location point E2 (x when amplitude is the highest on corresponding diffuse transmission plate (3)
e2, 0); The relatively size of the corresponding amplitude of B2, A, C2 point, the ordinate that wherein amplitude maximum point is corresponding is y
max; The relatively size of the corresponding amplitude of D2, A, E2 point, the horizontal ordinate that wherein amplitude maximum point is corresponding is x
max; The coordinate of analog echo signal focus is (x
max, y
max).
Wherein, step 5) in calculate analogue echo focus on diffuse transmission plate (3) and Laser emission picture point relative displacement Δ d formula be:
Change analogue echo power, then repeat the relative displacement of calculating simulation echoed signal focus and Laser emission picture point, average as Δ d, calculate Δ θ.
Wherein, described laser beam is pulse energy 1uJ, repetition frequency 5 ~ 10Hz, pulse width 10ns.
The present invention compared with prior art tool has the following advantages:
(1) the present invention is that view calibration, the scope of carrying out the machine system after having debug is measured and the measurement of paralleism, can realize the overall performance test after testing.
(2) the present invention arranges auxiliary calibration light-source system, diffuse transmission plate is adopted to produce the analogue echo of laser transmitter, after system is determined, without the need to mobile laser transmitter in test process, only need adjustment beam shaping to adjust assembly with accurate, avoid the error introduced because of mobile testing laser range measurement system.
(3) the present invention adopts set of device to achieve laser range finder transmitting and receiving parallelism of optical axis to measure and central vision calibration and measurement simultaneously, cost-saving, simple to operate.
Accompanying drawing explanation
Fig. 1 is that secondary light source of the present invention demarcates schematic diagram;
Fig. 2 is field of view of receiver angle measuring device schematic diagram of the present invention;
Fig. 3 is demarcation groove and the calibration position schematic diagram of diffuse transmission plate 3;
Fig. 4 is for offset amplitude extreme higher position point schematic diagram to launch centered by optical axis calibration point A.
Embodiment
Laser distance measuring system ground needs when debuging test to measure and calibration optical axis matching, makes receive optical-mechanical system central vision and launch optical axis high registration accuracy.The assay method that the present invention proposes gets picture point at light pipe focal plane place after the laser making emitting laser launch is reflected by parallel light tube, transmitting optical axis is demarcated with this, then analog echo signal source is made by secondary light source, the echo of simulating different visual field is pointed to by the optical axis changing signal source, by changing the intensity of the power analog difference echoed signal of signal source, the optical axis of echoed signal is demarcated by the vector correlation of the picture point measuring focal surface of collimator tube place simulating signal focus and stadimeter Emission Lasers with the angle error Δ θ launching optical axis, computing formula is as follows:
Wherein Δ d is the relative displacement of simulating signal focus and Laser emission picture point, and f is the focal length of parallel light tube.
Intensity is then measured by laser powermeter, by measuring receiving system to the response curve of different field angle analogue echo, demarcating the central vision of receiving system and peripheral field and measuring, and derive the right alignment of transmitting-receiving optical axis accordingly.By changing signal source power, the echoed signal of different distance target to be measured can be simulated, with the measuring distance of this calibration system.
Proving installation of the present invention mainly comprises: auxiliary calibration light source 1, beam shaping and precision adjust assembly 2, diffuse transmission plate 3, power meter 4, parallel light tube 5, testing laser range measurement system 6 and oscillograph 7.Wherein said beam shaping comprises laser beam expanding camera lens 201, energy attenuator 202, laser plus lens 203 and accurate adjustment rack 204 form with the accurate assembly 2 that adjusts, for generation of power adjustable, convergence auxiliary calibration light source 1 that locus is adjustable.Described testing laser range measurement system 6 comprises laser transmitter 601, receiving optics 602, detection and amplification system 603, carries out calibration for Emission Lasers, receives analogue echo and detect.
The laser range finder field of view of receiver method of testing that the present invention is based on secondary light source is realized by following steps:
1, secondary light source is demarcated
Auxiliary calibration light source 1 sends pulse energy 1uJ, repetition frequency 5 ~ 10Hz, the laser beam of the optical fiber output of pulse width 10ns, after the collimator and extender of laser beam expanding camera lens 201, the differential declines multiplying power of adjustment energy attenuator 202, be coupled to plus lens 203 again and carry out beams converge, and produce focal beam spot on diffuse transmission plate 3.Because expander lens 201, energy attenuator 202 and plus lens 203 are installed on three-dimensional precise adjustment rack 204, therefore by regulating adjustment rack 204, convergence hot spot can be pointed to accurately the calibration position point of diffuse transmission plate 3, as shown in Figure 1.
As shown in Figure 2, diffuse transmission plate is placed on the focal plane place of parallel light tube 5, calibration position point on diffuse transmission plate is determined by the optical axis of laser transmitter 601 in testing laser range measurement system 6, after transmitting-receiving optical-axis parallelism completes, the point after the laser sent by laser transmitter 601 is converged by parallel light tube 5 on focal plane is the location point that secondary light source needs to demarcate.
Then the demarcation of pulse power is carried out, effective Receiver aperture D1 of power meter, the bore D2 of parallel light tube, focal distance f, power meter distance parallel light tube focal plane, i.e. the distance d=D1*f/D2 of diffuse transmission plate 3; Then power meter 4 is placed on this distance behind focal plane, measurement secondary light source 1 incides the luminous power P in parallel light tube 5 after diffuse reflection.According to the bore D2 of parallel light tube 5 and the ratio of the effective Receiver aperture D3 of laser distance measuring system 6, the analogue echo luminous power P ' that laser distance measuring system 6 receives can be calculated, computing formula is as follows: P '=P*D3/D2, and the dynamic range that laser distance measuring system 6 receives echo is such as: 1 × 10
-8w-1mw, the decay multiplying power of adjustment attenuator 202, the analogue echo luminous power P ' that laser distance measuring system 6 is received receives in the dynamic range of echo at it.
2, visual field test
Open laser transmitter (601), the laser sent by laser transmitter (601) above forms hot spot A at diffuse transmission plate (3) after being converged by parallel light tube (5), the position of record hot spot A;
As shown in Figure 3, secondary light source calibration position is adjusted to A point, namely launch the location point that optical axis is demarcated, then measure the waveform receiving the echoed signal of detection in laser distance measuring system, method is the echo waveform gathering detection and amplifying circuit 603 output with oscillograph 7, wave recording amplitude and pulsewidth; Then the orientation forward migration centered by A point is carried out to auxiliary calibration light source 1, wave recording amplitude and pulsewidth, until no signal exports, record and demarcate two critical positions points that waveforms amplitude starts decline and waveform disappearance.Then carry out the skew of orientation reserve migration and the positive and negative both direction of pitch orientation in the same way and record calibration position.The diverse location of auxiliary calibration light source 1 on diffuse transmission plate 3, represents different visual fields, and when the light that A point sends exceeds field of view of receiver time, echo amplitude will decline, and judges the scope of field of view of receiver with this.
Consider that the power of backward energy exists certain difference to the response and wave form output that receive detection system, therefore the decay multiplying power adjusting secondary light source is needed, change analogue echo power, then above-mentioned identical operation steps is adopted, carry out many group tests and demarcate, final many groups are averaged and determine field of view of receiver.
3, central vision calibration
In above-mentioned field of view of receiver angular measurement process, have recorded the range and position of auxiliary calibration light source 1 on diffuse transmission plate that field of view of receiver is corresponding, thus obtain the location point coordinate of auxiliary calibration light source 1 corresponding to central vision on diffuse transmission plate.By comparing with laser transmitter in Fig. 3 601 optical axis calibration point A, the angle error of receiving center visual field and Laser emission optical axis can be obtained.If error is beyond permissible error scope, then illustrate that receiving and launch optical-axis parallelism angle does not meet the demands, and needs again to carry out calibration to systematic optical axis.
Provide one embodiment of the invention according to Fig. 1, Fig. 2, Fig. 3, Fig. 4 below and be elaborated:
Fig. 1 is that secondary light source demarcates schematic diagram, is made up of laser beam expanding camera lens 201, energy attenuator 202, laser plus lens 203 and accurate adjustment rack 204.The optical-fiber laser signal that laser beam expanding camera lens 201 pairs of Calibrating sources export carries out collimator and extender, adopts transmission-type camera lens in the present embodiment, expands multiplying power and determines according to light beam of light source quality and attenuator size; Energy attenuator 202 can carry out the energy attenuation of 5db to 70db scope, realizes differential declines multiplying power in the present embodiment by changing different attenuator combinations; Plus lens 203 is the anti-reflection convex lens of a Single wavelength, the laser beam focusing after collimation can be become small light spot, as the sphere light source of parallel light tube in the present embodiment.Three-dimensional precise adjustment rack 204 can realize orientation, the fine setting of vertical and pitch orientation vision-control amount, for adjusting and record the sensing position of converging hot spot in the present embodiment.
Fig. 2 is that field of view of receiver is demarcated and measurement mechanism schematic diagram, and device adjusts assembly 2, diffuse transmission plate 3, power meter 4, parallel light tube 5, testing laser range measurement system 6 and oscillograph 7 by Calibrating source 1, beam shaping and precision.The laser instrument that Calibrating source adopts pulse fiber to export, pulse energy 1uJ in the present embodiment, repetition frequency 5 ~ 10Hz, pulse width 10ns, single-mode fiber exports; Diffuse transmission plate is made up of plate face, groove and adjusting pole; Power meter is the power meter of pW ~ mW magnitude measurement range; Parallel light tube adopts 10 ~ 12m long-focus reflective parallel light pipe, and in the present embodiment, the focal plane of parallel light tube and center are Accurate Calibrations; Testing laser range measurement system is made up of laser transmitter system, receiving optics and detection and amplifying circuit, and in the present embodiment, Laser emission optical axis and reception optical-axis parallelism complete, and the measurement of field angle is to launch optical axis for benchmark.Oscillograph is for gathering the echo waveform of detection and amplifying circuit 603 output, wave recording amplitude and pulsewidth in the present embodiment.
Fig. 3 is demarcation groove and the calibration position schematic diagram of diffuse transmission plate 3, in figure, the precision of groove is 0.5mm, A point is the reference position point launching optical axis demarcation, measure in the process of field angle, need the hot spot that Calibrating source 1 is converged carry out on diffuse transmission plate orientation to pitching to skew, echo amplitude in record-shifted process and pulsewidth, as the foundation of demarcating central vision and measurement field angle.
Fig. 4 for offset amplitude extreme higher position point schematic diagram centered by hot spot A, and with hot spot A point for initial point, transverse axis is x-axis, and vertical axes is y-axis, sets up plane right-angle coordinate; Make hot spot A along the orientation forward migration of y-axis, wave recording amplitude and pulsewidth, until no signal exports, record and demarcate location point B1 (0, y when waveform disappears on corresponding diffuse transmission plate (3)
b1) and amplitude is the highest time corresponding diffuse transmission plate (3) on location point B2 (0, y
b2); Then the opposite direction along y-axis offsets, and records and demarcates location point C1 (0, y when waveform disappears on corresponding diffuse transmission plate (3)
c1) and amplitude is the highest time corresponding diffuse transmission plate (3) on location point C2 (0, y
c2), skew along the x-axis direction, records and demarcates location point D1 (x when waveform disappears on corresponding diffuse transmission plate (3)
d1, 0), and location point D2 (x when amplitude is the highest on corresponding diffuse transmission plate (3)
d2, 0); Then the opposite direction along x-axis offsets, and records and demarcates location point E1 (x when waveform disappears on corresponding diffuse transmission plate (3)
e1, 0), and location point E2 (x when amplitude is the highest on corresponding diffuse transmission plate (3)
e2, 0); The relatively size of the corresponding amplitude of B2, A, C2 point, the ordinate that wherein amplitude maximum point is corresponding is y
max; The relatively size of the corresponding amplitude of D2, A, E2 point, the horizontal ordinate that wherein amplitude maximum point is corresponding is x
max; The relative displacement of calculating simulation echoed signal focus and Laser emission picture point
calculate the optical axis of echoed signal and the angle error of launching optical axis
Δ θ in threshold range, is then judged to be that transmitting-receiving optical-axis parallelism is qualified; Δ θ exceedes setting threshold value, be then judged to be that transmitting-receiving optical-axis parallelism is defective, need readjust.
The above; be only the embodiment of the best of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.
The content be not described in detail in instructions of the present invention belongs to the known technology of professional and technical personnel in the field.
Claims (7)
1. a laser range finder measurement mechanism, for laser range finder receiving center view calibration and measurement, or measure for laser range finder transmitting and receiving parallelism of optical axis, it is characterized in that: comprise auxiliary calibration light source (1), beam shaping and precision and adjust assembly (2), diffuse transmission plate (3), power meter (4), parallel light tube (5), testing laser range measurement system (6) and oscillograph (7);
Described beam shaping comprises laser beam expanding camera lens (201), energy attenuator (202), laser plus lens (203) and accurate adjustment rack (204) form with the accurate assembly (2) that adjusts; Expander lens (201), energy attenuator (202) and plus lens (203) are installed on three-dimensional precise adjustment rack (204); Diffuse transmission plate (3) is placed on the focal plane of laser plus lens (203);
Described testing laser range measurement system (6) comprises laser transmitter (601), receiving optics (602), detection and amplification system (603); Diffuse transmission plate (3) is placed on the focal plane place of parallel light tube (5), and the laser that laser transmitter (601) sends forms hot spot after being converged by parallel light tube (5) on diffuse transmission plate (3);
The laser beam that auxiliary calibration light source (1) sends, after the collimator and extender of laser beam expanding camera lens (201), the differential declines multiplying power of adjustment energy attenuator (202), be coupled in plus lens (203) again, diffuse transmission plate (3) forms hot spot, transfer to receiving optics (602) by parallel light tube (5), be sent to oscillograph (7) through detection and amplification system (603); During the luminous power P needing test to incide in parallel light tube (5), power meter (4) is placed between diffuse transmission plate (3) and parallel light tube (5), the distance of distance parallel light tube (5) focal plane is: d=D1*f/D2, D1 is effective Receiver aperture of power meter, D2 is the bore of parallel light tube, and f is the focal length of parallel light tube.
2., based on the method that the laser range finder transmitting and receiving parallelism of optical axis of device described in claim 1 is measured, it is characterized in that comprising the steps:
1) after the transmitting-receiving optical-axis parallelism of testing laser range measurement system (6) completes, open laser transmitter (601), the laser sent by laser transmitter (601) above forms hot spot A at diffuse transmission plate (3) after being converged by parallel light tube (5), the position of record hot spot A;
2) laser transmitter (601) is closed, open auxiliary calibration light source (1), send laser beam, after the collimator and extender of laser beam expanding camera lens (201), be coupled in plus lens (203) again, diffuse transmission plate (3) forms hot spot, adjust accurate adjustment rack (204), make hot spot converge to the center of diffuse transmission plate (3), the center of diffuse transmission plate (3) is the center of parallel light tube focal plane;
3) power meter (4) is placed between diffuse transmission plate (3) and parallel light tube (5), the luminous power P in parallel light tube (5) is incided in detection, the distance of power meter (4) distance parallel light tube (5) focal plane is: d=D1*f/D2, wherein D1 is effective Receiver aperture of power meter (4), D2 is the bore of parallel light tube (5), and f is the focal length of parallel light tube (5); Calculate the analogue echo luminous power P ' that laser distance measuring system (6) receives, computing formula is as follows: P '=P*D3/D2, and wherein, D3 is laser distance measuring system (6) effectively Receiver aperture; Arrange decay multiplying power, the analogue echo luminous power P ' that laser distance measuring system (6) is received receives in the dynamic range of echo at it, opens energy attenuator (202), and withdraws power meter; The hot spot that adjustment three-dimensional precise adjustment rack (204) makes auxiliary calibration light source (1) be formed overlaps with the position of hot spot A, and diffuse transmission plate (3) produces the analogue echo of laser transmitter (601);
4) receiving optics (602), detection and amplification system (603) and oscillograph (7) is opened, regulate three-dimensional precise adjustment rack (204) carry out respectively pitching and orientation to visual field scanning, the echo waveform that recording oscillometer (7) collection detects and amplification system (603) exports, demarcation central vision corresponds to the analogue echo focus on diffuse transmission plate (3);
5) the analogue echo focus in calculating diffuse transmission plate (3) and the relative displacement Δ d of Laser emission picture point, calculate the optical axis of echoed signal and the angle error of launching optical axis
6) Δ θ is in threshold range, be then judged to be that transmitting-receiving optical-axis parallelism is qualified; Δ θ exceedes setting threshold value, be then judged to be that transmitting-receiving optical-axis parallelism is defective, need readjust.
3., based on the laser range finder receiving center view calibration of device described in claim 1 and a method for measurement, it is characterized in that comprising the steps:
1) after the transmitting-receiving optical-axis parallelism of testing laser range measurement system (6) completes, open laser transmitter (601), the laser sent by laser transmitter (601) above forms hot spot A at diffuse transmission plate (3) after being converged by parallel light tube (5), the position of record hot spot A;
2) laser transmitter (601) is closed, open auxiliary calibration light source (1), send laser beam, after the collimator and extender of laser beam expanding camera lens (201), be coupled in plus lens (203) again, diffuse transmission plate (3) forms hot spot, adjust accurate adjustment rack (204), make hot spot converge to the center of diffuse transmission plate (3), the center of diffuse transmission plate (3) is the center of parallel light tube focal plane;
3) power meter (4) is placed between diffuse transmission plate (3) and parallel light tube (5), the luminous power P in parallel light tube (5) is incided in detection, the distance of power meter (4) distance parallel light tube (5) focal plane is: d=D1*f/D2, wherein D1 is effective Receiver aperture of power meter (4), D2 is the bore of parallel light tube (5), and f is the focal length of parallel light tube (5); Calculate the analogue echo luminous power P ' that laser distance measuring system (6) receives, computing formula is as follows: P '=P*D3/D2, and wherein, D3 is laser distance measuring system (6) effectively Receiver aperture; Arrange decay multiplying power, the analogue echo luminous power P ' that laser distance measuring system (6) is received receives in the dynamic range of echo at it, opens energy attenuator (202), and withdraws power meter; The hot spot that adjustment three-dimensional precise adjustment rack (204) makes auxiliary calibration light source (1) be formed overlaps with the position of hot spot A, and diffuse transmission plate (3) produces the analogue echo of laser transmitter (601);
4) receiving optics (602), detection and amplification system (603) and oscillograph (7) is opened, regulate three-dimensional precise adjustment rack (204) carry out respectively pitching and orientation to visual field scanning, concrete grammar is: with hot spot A point for initial point, transverse axis is x-axis, vertical axes is y-axis, sets up plane right-angle coordinate; Make hot spot A along the orientation forward migration of y-axis, wave recording amplitude and pulsewidth, until no signal exports, record and demarcate location point B1 (0, y when waveform disappears on corresponding diffuse transmission plate (3)
b1) and amplitude is the highest time corresponding diffuse transmission plate (3) on location point B2 (0, y
b2); Then the opposite direction along y-axis offsets, and records and demarcates location point C1 (0, y when waveform disappears on corresponding diffuse transmission plate (3)
c1) and amplitude is the highest time corresponding diffuse transmission plate (3) on location point C2 (0, y
c2), skew along the x-axis direction, records and demarcates location point D1 (x when waveform disappears on corresponding diffuse transmission plate (3)
d1, 0), and location point D2 (x when amplitude is the highest on corresponding diffuse transmission plate (3)
d2, 0); Then the opposite direction along x-axis offsets, and records and demarcates location point E1 (x when waveform disappears on corresponding diffuse transmission plate (3)
e1, 0), and location point E2 (x when amplitude is the highest on corresponding diffuse transmission plate (3)
e2, 0); The relatively size of the corresponding amplitude of B2, A, C2 point, the ordinate that wherein amplitude maximum point is corresponding is y
max; The relatively size of the corresponding amplitude of D2, A, E2 point, the horizontal ordinate that wherein amplitude maximum point is corresponding is x
max; The coordinate of analog echo signal focus is (x
max, y
max);
5) carry out the calculating of field range, calculate x
d1-x
e1, y
b1-y
c1be respectively the field range of level and vertical both direction.
4. method according to claim 2, it is characterized in that step 4) in, regulate three-dimensional precise adjustment rack (204) carry out respectively pitching and orientation to visual field scanning, the echo waveform that recording oscillometer (7) collection detects and amplification system (603) exports, the concrete grammar demarcating the analogue echo focus that central vision corresponds on diffuse transmission plate (3) is: with hot spot A point for initial point, transverse axis is x-axis, vertical axes is y-axis, sets up plane right-angle coordinate; Make hot spot A along the orientation forward migration of y-axis, wave recording amplitude and pulsewidth, until no signal exports, record and demarcate location point B1 (0, y when waveform disappears on corresponding diffuse transmission plate (3)
b1) and amplitude is the highest time corresponding diffuse transmission plate (3) on location point B2 (0, y
b2); Then the opposite direction along y-axis offsets, and records and demarcates location point C1 (0, y when waveform disappears on corresponding diffuse transmission plate (3)
c1) and amplitude is the highest time corresponding diffuse transmission plate (3) on location point C2 (0, y
c2), skew along the x-axis direction, records and demarcates location point D1 (x when waveform disappears on corresponding diffuse transmission plate (3)
d1, 0), and location point D2 (x when amplitude is the highest on corresponding diffuse transmission plate (3)
d2, 0); Then the opposite direction along x-axis offsets, and records and demarcates location point E1 (x when waveform disappears on corresponding diffuse transmission plate (3)
e1, 0), and location point E2 (x when amplitude is the highest on corresponding diffuse transmission plate (3)
e2, 0); The relatively size of the corresponding amplitude of B2, A, C2 point, the ordinate that wherein amplitude maximum point is corresponding is y
max; The relatively size of the corresponding amplitude of D2, A, E2 point, the horizontal ordinate that wherein amplitude maximum point is corresponding is x
max; The coordinate of analog echo signal focus is (x
max, y
max).
5. method according to claim 4, is characterized in that step 5) in calculate analogue echo focus in diffuse transmission plate (3) and Laser emission picture point relative displacement Δ d formula be:
6. method according to Claims 2 or 3, is characterized in that changing analogue echo power, then repeats the relative displacement of calculating simulation echoed signal focus and Laser emission picture point, average as Δ d, calculate Δ θ.
7. method according to Claims 2 or 3, is characterized in that described laser beam is pulse energy 1uJ, repetition frequency 5 ~ 10Hz, pulse width 10ns.
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