阅读说明：本技术 一种多波长激光雷达出射光平行校准方法及应用 (Multi-wavelength laser radar emergent light parallel calibration method and application ) 是由 潘焕双 韩小斌 贾强 于 2020-12-14 设计创作，主要内容包括：本发明公开了一种多波长激光雷达出射光平行调整方法,包括如下步骤：S1,调整可见光的三维调整架4,使得该三维调整架的反光镜反射的光束目测为垂直；S2,将感光片支架1放置于光束路线上,使得可见光的光束中心通过感光片支架上的玻璃片圆心；S3,分别调整剩余的三维调整架,使得不可见光在感光片支架上的感光片显示光斑,使得光斑中心与感光片的圆心基本重合；S4,固定三维调整架；S5,移开感光片支架及感光片和玻璃片。本发明有效解决激光雷达在户外无法进行不可见的出射光平行校准的难题,提供一种可视化调整方法。本发明的调整方法简单易用、便于操作、观察直观；调整装置制作成本低、便于携带、操作便利。(The invention discloses a method for adjusting the emergent light parallelism of a multi-wavelength laser radar, which comprises the following steps: s1, adjusting the three-dimensional adjusting frame 4 of the visible light to ensure that the light beam reflected by the reflector of the three-dimensional adjusting frame is vertical visually; s2, placing the photosensitive sheet support 1 on a light beam path to enable the center of a light beam of visible light to pass through the center of a glass sheet on the photosensitive sheet support; s3, adjusting the rest three-dimensional adjusting frames respectively to enable the invisible light to display light spots on the photosensitive sheet support, and enabling the centers of the light spots to be basically overlapped with the circle center of the photosensitive sheet; s4, fixing a three-dimensional adjusting frame; and S5, removing the photosensitive piece support, the photosensitive piece and the glass piece. The invention effectively solves the problem that the laser radar cannot carry out invisible emergent light parallel calibration outdoors, and provides a visual adjustment method. The adjusting method is simple and easy to use, convenient to operate and intuitive to observe; the adjusting device has low manufacturing cost, is convenient to carry and operate.)

1. A multi-wavelength laser radar emergent light parallel calibration method comprises the following steps:

s1, adjusting a three-dimensional adjusting frame (4) of visible light to ensure that the light beam reflected by the reflector of the three-dimensional adjusting frame is vertical visually;

s2, placing the photosensitive sheet support (1) on a light beam path to enable the center of a light beam of visible light to pass through the center of a glass sheet on the photosensitive sheet support;

s3, adjusting the rest three-dimensional adjusting frames respectively to enable the invisible light to display light spots on the photosensitive sheet support, and enabling the centers of the light spots to be basically overlapped with the circle center of the photosensitive sheet;

s4, fixing a three-dimensional adjusting frame;

s5, the photosensitive-sheet holder is removed.

2. A parallel calibration method for emergent light of a multi-wavelength laser radar is characterized in that a plurality of through holes 2 are formed in a photosensitive film bracket (1), the through holes correspond to light beam paths of the emergent light, the centers of the through holes are positioned on the same straight line, and the straight line is parallel to the side face of the photosensitive film bracket; the through hole is connected with a photosensitive sheet or a glass sheet; the photosensitive area of the photosensitive film is provided with a circle and a cross line, and the cross point of the cross line is superposed with the circle center; a circle and a cross line are arranged on the glass sheet, and the intersection point of the cross line is superposed with the circle center; the circle centers of the circles on the photosensitive sheet and the glass sheet are superposed with the circle center of the through hole.

3. The application of the parallel calibration method for the emergent light of the multi-wavelength laser radar is characterized in that the calibration method is suitable for the multi-wavelength laser radar capable of emitting at least one visible light.

Technical Field

The invention relates to the field of laser radar calibration, in particular to a multi-wavelength laser radar emergent light parallel calibration method and application.

Background

The laser radar is an active telemetering device which adopts a laser as a transmitting light source and combines a photoelectric detection technology, and is an advanced detection means which combines the laser technology and the modern photoelectric detection technology. The laser radar mainly comprises a laser light source transmitting unit, a receiving telescope, a multi-wavelength signal light splitting unit and a data control acquisition unit. The laser radar has wide application in environmental pollution monitoring, aerosol space-time distribution measurement, and weather phenomenon research.

The multi-wavelength laser radar can emit light with various wavelengths, the light is scattered to a receiving telescope through spherical particles and non-spherical particles of an air medium in the high altitude, and the light is converted by each photoelectric detector under the optical action of a small-hole diaphragm, a collimating mirror, a dichroic spectroscope, a converging mirror, an optical filter, a reflecting mirror and the like of a subsequent optical unit, and then an electric signal is transmitted to an analysis unit through a data acquisition unit to analyze the air medium.

Laser radar is a light source of laser light generated by a laser, and generally, light with various wavelengths is adopted. The most desirable situation is to direct the multiple beams of light to the same area of the atmospheric medium so that the analytical data is reliable and accurate, and thus to direct the multiple beams of light as parallel as possible. The visibility of the light with different wavelengths is also different, and the selected light is invisible or partially invisible, so that once the light path of the instrument deviates on a monitoring site, the rapid adjustment and recovery of a plurality of beams of light to enable the beams of light to be emitted in parallel are very difficult.

Disclosure of Invention

The invention aims to solve the problem that the parallel emission of multiple beams of light cannot be quickly recovered on the existing monitoring site, and provides an emergent light parallel calibration method and application.

The technical scheme adopted by the invention is as follows: a multi-wavelength laser radar emergent light parallel calibration method comprises the following steps: s1, adjusting the three-dimensional adjusting frame of the visible light to ensure that the light beam reflected by the reflector of the three-dimensional adjusting frame is vertical visually; s2, placing the photosensitive sheet support on a light beam path to enable the center of a light beam of visible light to pass through the center of a glass sheet on the photosensitive sheet support; s3, adjusting the rest three-dimensional adjusting frames respectively to enable the invisible light to display light spots on the photosensitive sheet support, and enabling the centers of the light spots to be basically overlapped with the circle center of the photosensitive sheet; s4, fixing a three-dimensional adjusting frame; s5, the photosensitive-sheet holder is removed.

As a further improvement of the invention, the photosensitive sheet bracket is provided with a plurality of through holes 2, the through holes correspond to the light beam path of emergent light, the circle centers of the through holes are positioned on the same straight line, and the straight line is parallel to the side surface of the photosensitive sheet bracket; the through hole is connected with a photosensitive sheet or a glass sheet; the photosensitive area of the photosensitive film is provided with a circle and a cross line, and the cross point of the cross line is superposed with the circle center; a circle and a cross line are arranged on the glass sheet, and the intersection point of the cross line is superposed with the circle center; the circle centers of the circles on the photosensitive sheet and the glass sheet are superposed with the circle center of the through hole.

As a further development of the invention, the calibration method is suitable for a multi-wavelength lidar capable of emitting at least one visible ray. .

The invention has the following beneficial effects: the invention effectively solves the problem that the laser radar cannot emit light outdoors, particularly the parallel calibration of invisible light, and provides a visual calibration method. The adjusting method is simple and easy to use, convenient to operate and intuitive to observe; the adjusting device has low manufacturing cost, is convenient to carry and operate.

Drawings

FIG. 1 is a schematic diagram of the present invention.

FIG. 2 is a schematic view of a photosensitive support according to the present invention.

FIG. 3 is a top view of the photosensitive support of the present invention.

FIG. 4 is a schematic view of a photosensitive sheet according to the present invention.

Shown in the figure: 1 photosensitive film support, 2 through holes, 3 positioning grooves and 4 three-dimensional adjusting frames.

Detailed Description

The present invention will be further described with reference to fig. 1 to 4.

As shown in the figure, the method for calibrating the emergent light parallel of the multi-wavelength laser radar comprises the following steps: s1, adjusting the three-dimensional adjusting frame 4 of the visible light to ensure that the light beam reflected by the reflector of the three-dimensional adjusting frame is vertical visually; s2, placing the photosensitive sheet support 1 on a light beam path to enable the center of a light beam of visible light to pass through the center of a glass sheet on the photosensitive sheet support; s3, adjusting the rest three-dimensional adjusting frames respectively to enable the invisible light to display light spots on the photosensitive sheet support, and enabling the centers of the light spots to be basically overlapped with the circle center of the photosensitive sheet; s4, fixing a three-dimensional adjusting frame; and S5, removing the photosensitive piece support, the photosensitive piece and the glass piece.

Furthermore, in order to ensure that the parallel light emission can be quickly adjusted, the photosensitive sheet bracket, the glass sheet and the photosensitive sheet play an important role in cooperation. The photosensitive film bracket 1 is provided with a plurality of through holes 2, the through holes correspond to the emergent light, the circle centers of the through holes are positioned on the same straight line, the straight line is parallel to the side surface of the photosensitive film bracket, and the circle center distance between the adjacent through holes is equal to the horizontal projection distance of the centers of the reflectors; the through hole is connected with the photosensitive sheet or the glass sheet; the photosensitive area of the photosensitive film is provided with a circle and a cross line, and the cross point of the cross line is superposed with the circle center; a circle and a cross line are arranged on the glass sheet, and the intersection point of the cross line is coincided with the circle center. Through the setting of circle and reticle, ensure that the light beam can pinpoint. The circle centers of the circles on the photosensitive sheet and the glass sheet are superposed with the circle center of the through hole. For guaranteeing that the photosensitive piece and the glass piece can be kept stable with the photosensitive support, the photosensitive piece and the glass piece are positioned quickly, the through hole is provided with a positioning groove 3, and the photosensitive piece or the glass piece is arranged in the positioning groove.

Example 1 a lidar equipped with a Nd: YAG laser, emitting 355nm, 532nm, 1064nm light, where 532nm light is green visible light, 355nm light is ultraviolet light, 1064nm light is infrared light, both of which are invisible light.

Designing and manufacturing a photosensitive film bracket, wherein a group of through holes are formed in the photosensitive film bracket, and the number of the through holes is consistent with that of emergent light beams; the diameter phi of the through hole is respectively larger than the diameters of the 355nm reflector, the 532nm reflector and the 1064nm reflector, so that the beams can completely pass through the through hole and are not shielded by the photosensitive sheet bracket; the centers of the through holes are on the same straight line and are parallel to one side surface of the bracket, and the distance is C; the center distances D1 and D2 between the adjacent through holes are respectively equal to the horizontal projection distance of the centers of the reflectors on the three-dimensional adjusting frame. The positioning grooves are formed in the through holes of the photosensitive piece support, the number of the positioning grooves is the same as that of the through holes, the photosensitive pieces and the glass pieces are placed, and the shape and the size of the positioning grooves are the same as those of the photosensitive pieces and the glass pieces. Manufacturing an infrared light sensitive film and an ultraviolet light sensitive film, drawing a circle and a cross line in a light sensitive area of the infrared light sensitive film and the ultraviolet light sensitive film, wherein the cross line is superposed with the circle center; the photosensitive sheet can be quickly positioned on the photosensitive sheet support, and the circle center on the photosensitive sheet is superposed with the circle center on the photosensitive sheet support after positioning. Manufacturing a glass sheet, drawing a circle and a cross line in a designated area of the glass sheet, wherein the cross line is superposed with the circle center; the glass sheet can be quickly positioned on the photosensitive sheet support, and the circle center on the glass sheet is superposed with the circle center on the photosensitive sheet support after positioning. And placing the manufactured bracket of the photosensitive film 1 on a front window mirror of an upper cabinet of the outdoor laser radar, and adjusting the direction. Then the infrared light sensitive film, the ultraviolet light sensitive film and the glass sheet are sequentially placed in the positioning groove of the sensitive film bracket.

The laser 9 was turned on and the adjusting screws on the three-dimensional adjusting mount with the 532nm mirror of visible green light were first adjusted to make the beam visually perpendicular. And then the photosensitive film bracket on the front window sheet of the cabinet is moved, so that the center of the green light beam passes through the circle center on the glass sheet. And then, adjusting screws on the three-dimensional adjusting frame provided with the 355nm reflecting mirror and the 1064nm reflecting mirror of the invisible light respectively until the invisible light displays light spots on respective photosensitive pieces and the centers of the light spots are basically overlapped with the circle center on the photosensitive pieces. And finally, locking each adjusting screw. To this end, a set of outgoing light rays is directed in parallel to the atmosphere.

The calibration method is suitable for the multi-wavelength laser radar capable of emitting at least one visible light.

The invention effectively solves the problem that the laser radar cannot carry out emergent light parallel calibration outdoors, and provides a visual adjustment method. The adjusting method is simple and easy to use, convenient to operate and intuitive to observe; the adjusting device has low manufacturing cost, is convenient to carry and operate.

It should be understood by those skilled in the art that the protection scheme of the present invention is not limited to the above-mentioned embodiments, and various permutations, combinations and modifications can be made on the above-mentioned embodiments without departing from the spirit of the present invention, and the modifications are within the scope of the present invention.