阅读说明：本技术 一种激光雷达光路装调方法 (Laser radar light path adjusting method ) 是由 王晓光 刘柯 朱浩 郭天茂 于 2020-11-27 设计创作，主要内容包括：本发明提出一种激光雷达光路装调方法,操作方便,能够满足激光雷达光路高效率、高精度装调；且调焦镜运动过程中,调焦镜在各个位置均能保证与其他镜片同轴。激光雷达光路包括：光路外壳以及同轴安装在光路外壳内的准直镜A、准直镜B、调焦镜和胶合镜,该方法包括对准直镜A、准直镜B、调焦镜和胶合镜的装调,其中对调焦镜时,首先将调焦电机的运动轴线与其他镜片轴线调一致,然后再调节调焦镜与其他镜片同轴,以保证调焦镜在运动过程中,调焦镜轴线与其他镜片的轴线一致。(The laser radar light path adjusting method is convenient to operate and capable of achieving high-efficiency and high-precision laser radar light path adjustment; and in the movement process of the focusing lens, the focusing lens can be ensured to be coaxial with other lenses at all positions. The laser radar light path includes: the method comprises the steps of installing and adjusting the collimating lens A, the collimating lens B, the focusing lens and the cemented lens, wherein when the focusing lens is adjusted, the movement axis of a focusing motor is adjusted to be consistent with the axes of other lenses, and then the focusing lens is adjusted to be coaxial with the other lenses so as to ensure that the axes of the focusing lens are consistent with the axes of the other lenses in the movement process of the focusing lens.)

1. A laser radar light path adjusting method is characterized by comprising the following steps: the debugging platform adopted by the debugging method comprises the following steps: the device comprises a supporting platform (1), a rotary table (2), a centering instrument upright post (13) and a centering instrument eyepiece (12); the rotary table (2) and the centering instrument upright post (13) are fixed on the supporting platform (1); the centering instrument eyepiece (12) is arranged on a centering instrument upright post (13), so that the optical axis of the centering instrument eyepiece (12) is superposed with the axis of the rotating shaft of the turntable (2); the eyepiece (12) of the centering instrument can move up and down along the upright post (13) of the centering instrument; the surface of the rotary table (2) is provided with an installation table top, the left and right directions in a horizontal plane are X directions, the front and back directions are Y directions, the vertical direction is Z direction, and the installation table top has the freedom degrees of translation along the X direction, translation along the Y direction and rotation around the Y direction;

the laser radar light path adjusting process comprises the following steps:

the method comprises the following steps: vertically placing the light path shell on an installation table top of the rotary table (2), and fixing the light path shell on the installation table top after the axis of the light path shell is adjusted to be coincident with the axis of a rotary shaft of the rotary table (2);

step two: calculating the position of the spherical center image of each mirror surface according to the design distance and the design curvature of the collimating lens A (3), the collimating lens B (5), the focusing lens (8) and the cemented lens (11) so as to determine the installation position of the spherical center image of each mirror surface in the light path shell;

step three: assembling and adjusting a collimating mirror A (3):

placing the collimating lens A (3) into the light path shell according to the installation position determined in the step two, moving the centering instrument eyepiece (12) up and down to adjust the position of the centering instrument eyepiece (12), and ensuring that the spherical center image of the collimating lens A (3) can be observed from the centering instrument eyepiece (12); then, rotating the turntable (2), if the spherical center image of the collimating lens A (3) draws a circle in the eyepiece (12) of the centering instrument, indicating that eccentric displacement or/and eccentric angle exists between the axis of the collimating lens A (3) and the axis of the rotating shaft of the turntable (2), adjusting the position or/and angle of the collimating lens A (3) by adjusting the mounting table top of the turntable (2) until the position of the spherical center image of the collimating lens A (3) in the eyepiece (12) of the centering instrument is fixed when the turntable (2) is rotated; then fixing the collimating lens A (3) in the light path shell;

step four: adjustment of collimator lens B (5):

placing the collimating mirror B (5) into the light path shell according to the installation position determined in the step two; adjusting the position of an eyepiece (12) of a centering instrument to ensure that a spherical center image of the collimating lens B (5) can be observed from the eyepiece (12) of the centering instrument; then, rotating the turntable (2), if the spherical center image of the collimating mirror B (5) draws a circle in the eyepiece (12) of the centering instrument, indicating that eccentric displacement or/and eccentric angle exists between the axis of the collimating mirror B (5) and the axis of the rotating shaft of the turntable (2), adjusting the position or/and angle of the collimating mirror B (5) until the position of the spherical center image of the collimating mirror B (5) in the eyepiece (12) of the centering instrument is fixed when the turntable (2) is rotated, and then fixing the collimating mirror B (5) in the light path shell;

step five: and (3) assembling and adjusting a focusing motor (6) and a focusing mirror (8):

the movement axis adjusted firstly coincides with the axis of the rotating shaft of the turntable (2):

the focusing motor (6) is a linear motor and is used for driving the focusing mirror (8) to move up and down; a plane reflecting mirror with a mark on the mirror surface is placed at the position of a focusing mirror (8) and is connected with the power output end of a focusing motor (6) through an adjusting piece (7); controlling a focusing motor (6) to drive the plane reflecting mirror to reciprocate up and down, and keeping the rotary table (2) still; observing in an eyepiece (12) of the centering instrument, and if the mark on the mirror surface of the plane reflector is still, indicating that the motion axis of the focusing motor (6) is superposed with the rotation axis of the turntable (2); otherwise, adjusting the motion axis of the focusing motor (6) until the mark on the mirror surface of the plane reflector observed from the eyepiece (12) of the centering instrument is fixed when the plane reflector reciprocates up and down;

then adjusting the axis of the focusing lens (8) to coincide with the axis of the rotary shaft of the rotary table:

taking down the plane reflecting mirror, installing a focusing mirror (8) at the power output end of the focusing motor (6) through an adjusting piece (7), rotating the rotary table (2), observing a spherical center image of the focusing mirror (8) in an eyepiece (12) of the centering instrument, if the spherical center image of the focusing mirror (8) draws a circle in the eyepiece (12) of the centering instrument, indicating that eccentric displacement or/and an eccentric angle exists between the axis of the focusing mirror (8) and a rotating shaft of the rotary table (2), adjusting the position or/and the angle of the focusing mirror (8) until the position of the spherical center image of the focusing mirror (8) in the eyepiece (12) of the centering instrument is fixed;

step six: assembling and adjusting the cemented mirror (11):

placing the cemented mirror (11) into the light path housing according to the installation position determined in the step two; adjusting the position of the eyepiece (12) of the centering instrument to ensure that the spherical center image of the cemented lens (11) can be observed from the eyepiece (12) of the centering instrument; and then the rotary table (2) is rotated, if the spherical center image of the cemented lens (11) draws a circle in the eyepiece (12) of the centering instrument, the eccentric displacement or/and the eccentric angle exist between the axis of the cemented lens (11) and the axis of the rotary shaft of the rotary table (2), the position or/and the angle of the cemented lens (11) are adjusted until the position of the spherical center image of the cemented lens (11) in the eyepiece (12) of the centering instrument is fixed when the rotary table (2) is rotated, and then the cemented lens (11) is fixed in the optical path shell.

2. The laser radar light path adjusting method according to claim 1, wherein: in the first step, after the optical path shell is vertically placed on an installation table top of the rotary table (2), the inner circumferential surface of the optical path shell is measured by a dial indicator, the rotary table (2) is rotated, and if the number of the dial indicator changes, the axis of the optical path shell is not overlapped with the axis of a rotating shaft of the rotary table (2); the position of the light path shell on the installation table surface is adjusted until the dial indicator number is unchanged when the rotary table (2) is rotated, and the axis of the light path shell is shown to be coincident with the axis of the rotary shaft of the rotary table (2).

3. The laser radar light path adjusting method according to claim 1, wherein: an adjusting sleeve A (4) is installed between the collimating mirror A (3) and the collimating mirror B (5), and the distance between the collimating mirror A (3) and the collimating mirror B (5) is ensured through the adjusting sleeve A (4).

4. The laser radar light path adjusting method according to claim 3, wherein: in the fourth step, the angle of the collimating mirror B (5) is adjusted by grinding the end surface of the adjusting sleeve A (4) opposite to the collimating mirror B (5); the position adjustment of the collimating mirror B (5) comprises position adjustment in an X direction and a Y direction, and the position adjustment mode is as follows: and jackscrews are respectively arranged at the X-direction two ends and the Y-direction two ends of the collimating mirror B (5) on the light path shell, and the position of the collimating mirror B (5) is adjusted by screwing the jackscrews in the offset direction.

5. The laser radar light path adjusting method according to claim 1, wherein: in the fifth step, the angle of the focusing lens (8) is adjusted by grinding the end surface of the adjusting piece (7) opposite to the focusing lens (8); the adjustment of the position of the focusing mirror (8) comprises position adjustment in the X direction and the Y direction, wherein the position adjustment in the Y direction is realized by adjusting the thickness of the adjusting piece (7), and the position adjustment in the X direction is realized by adjusting a connecting screw between the focusing mirror (8) and the grinding adjusting piece (7) in the X direction.

6. The laser radar light path adjusting method according to claim 1, wherein: the cemented mirror (11) is mounted inside the optical path housing by an adjustment sleeve B (10).

7. The laser radar light path adjustment method according to claim 6, characterized in that: in the sixth step, the angle of the cemented mirror (11) is adjusted by grinding the end surface of the adjusting sleeve B (10) opposite to the cemented mirror (11); the adjustment of the position of the cemented mirror (11) comprises the position adjustment in the X direction and the Y direction, and the position adjustment mode is as follows: and on the light path shell, two ends of the X direction and two ends of the Y direction of the cemented mirror (11) are respectively provided with a jackscrew, and the position of the cemented mirror (11) is adjusted by screwing the jackscrews in the offset direction.

Technical Field

The invention belongs to the field of mechanical design, and particularly relates to a laser radar light path adjusting method.

Background

The laser radar optical system mainly comprises a laser light source, a collimating mirror A, a collimating mirror B, a focusing mirror and a cemented mirror, and is shown in figure 1. The laser light source emits laser, the laser sequentially passes through the collimating lens A, the collimating lens B, the focusing lens and the veneer lens to be projected to the surface of a measured object, the laser is reflected on the surface of the object, and the detector receives the light intensity returned by the surface of the object, so that the measurement of the measured object is completed. In order to ensure the accuracy of measurement, the relative positions of the lenses are extremely strict, especially the distance between the lenses and the coaxiality between the lenses, so that the realization of the high-precision adjusting method suitable for the laser radar light path is of great significance.

The prior art method for adjusting the optical lens includes: (1) adjusting the light path by using a theodolite; (2) invisible light is displayed as visible light by the endoscope, so that the visibility adjustment of the laser optical axis is realized; (3) and placing a transmission mirror at a proper position between the reflecting mirror and the interferometer, and adjusting the position of the lens according to a transmission mirror cloud picture and an interference pattern displayed by a computer connected with the interferometer.

However, for the laser radar light path which needs to be packaged in a cylindrical part, the coaxiality of the focusing lens and other lenses is not changed when the focusing motor drives the focusing lens in the whole focusing stroke, and the methods are not very convenient to apply to laser radar light path adjustment and regulation, and can not meet the requirements for light shielding or laser radar light path adjustment and regulation space.

Disclosure of Invention

In view of the above, the invention provides a laser radar light path adjusting method, which is convenient to operate and can meet the requirements of high-efficiency and high-precision laser radar light path adjustment; and in the movement process of the focusing lens, the focusing lens can be ensured to be coaxial with other lenses at all positions.

The technical scheme of the invention is as follows: a laser radar light path adjusting method comprises the following steps: the debugging platform adopted by the debugging method comprises the following steps: the device comprises a supporting platform, a rotary table, a centering instrument stand column and a centering instrument eyepiece; the turntable and the centering instrument upright post are fixed on a supporting platform; the eyepiece of the centering instrument is arranged on the upright post of the centering instrument, so that the optical axis of the eyepiece of the centering instrument is superposed with the axis of the rotating shaft of the rotating platform; the eyepiece of the centering instrument can move up and down along the upright post of the centering instrument; the surface of the rotary table is provided with an installation table top, the left and right directions in the horizontal plane are X directions, the front and back directions are Y directions, the vertical direction is Z direction, and the installation table top has the freedom degrees of translation along the X direction, translation along the Y direction and rotation around the Y direction;

the laser radar light path adjusting process comprises the following steps:

the method comprises the following steps: vertically placing the light path shell on an installation table top of the rotary table, adjusting the axis of the light path shell to be coincident with the axis of the rotary shaft of the rotary table, and fixing the light path shell on the installation table top;

step two: calculating the position of the spherical center image of each mirror surface according to the design distance and the design curvature of the collimating lens A, the collimating lens B, the focusing lens and the cemented lens so as to determine the installation position of the spherical center image of each mirror surface in the light path shell;

step three: assembling and adjusting a collimating mirror A:

placing the collimating lens A into the light path shell according to the installation position determined in the second step, moving the eyepiece of the centering instrument up and down to adjust the position of the eyepiece of the centering instrument, and ensuring that the spherical center image of the collimating lens A can be observed from the eyepiece of the centering instrument; then, rotating the turntable, if the spherical center image of the collimating lens A draws a circle in the eyepiece of the centering instrument, indicating that eccentric displacement or/and an eccentric angle exists between the axis of the collimating lens A and the axis of a rotating shaft of the turntable, adjusting the position or/and the angle of the collimating lens A by adjusting the mounting table top of the turntable until the position of the spherical center image of the collimating lens A in the eyepiece of the centering instrument is fixed when the turntable is rotated; then fixing the collimating lens A in the light path shell;

step four: assembling and adjusting a collimating mirror B:

placing the collimating mirror B into the light path shell according to the installation position determined in the step two; adjusting the position of an eyepiece of a centering instrument to ensure that a spherical center image of the collimating lens B can be observed from the eyepiece of the centering instrument; then, rotating the turntable, if the spherical center image of the collimating lens B draws a circle in the eyepiece of the centering instrument, indicating that eccentric displacement or/and an eccentric angle exists between the axis of the collimating lens B and the axis of the rotating shaft of the turntable, adjusting the position or/and the angle of the collimating lens B until the position of the spherical center image of the collimating lens B in the eyepiece of the centering instrument is fixed when the turntable is rotated, and then fixing the collimating lens B in the light path shell;

step five: assembling and adjusting a focusing motor and a focusing mirror:

the movement axis adjusted firstly coincides with the axis of the revolving shaft of the turntable:

the focusing motor is a linear motor and is used for driving the focusing mirror to move up and down; a plane reflecting mirror with a mark on the mirror surface is placed at the position of a focusing mirror and is connected with the power output end of a focusing motor through an adjusting piece; controlling a focusing motor to drive the plane reflecting mirror to reciprocate up and down, and keeping the rotary table still; observing in an eyepiece of the centering instrument, and if the mark on the mirror surface of the plane mirror is still, indicating that the motion axis of the focusing motor is superposed with the rotation axis of the rotary table; otherwise, adjusting the motion axis of the focusing motor until the mark on the mirror surface of the plane reflector observed from the eyepiece of the centering instrument is fixed when the plane reflector reciprocates up and down;

then adjusting the axis of the focusing lens to coincide with the axis of the rotary shaft of the rotary table:

taking down the plane reflector, installing the focusing lens at the power output end of the focusing motor through an adjusting piece, rotating the rotary table, observing the spherical center image of the focusing lens in the eyepiece of the centering instrument, if the spherical center image of the focusing lens draws a circle in the eyepiece of the centering instrument, indicating that the eccentric displacement or/and the eccentric angle exist between the axis of the focusing lens and the rotary shaft of the rotary table, and adjusting the position or/and the angle of the focusing lens until the position of the spherical center image of the focusing lens in the eyepiece of the centering instrument is fixed;

step six: assembling and adjusting the cemented mirror:

placing the cemented mirror into the light path housing according to the installation position determined in the step two; adjusting the position of the eyepiece of the centering instrument to ensure that the spherical center image of the cemented lens can be observed from the eyepiece of the centering instrument; and then, rotating the turntable, if the spherical center image of the cemented lens draws a circle in the eyepiece of the centering instrument, indicating that eccentric displacement or/and eccentric angle exists between the axis of the cemented lens and the axis of the rotating shaft of the turntable, adjusting the position or/and angle of the cemented lens until the position of the spherical center image of the cemented lens in the eyepiece of the centering instrument is fixed when the turntable is rotated, and then fixing the cemented lens in the optical path shell.

As a preferred embodiment of the present invention: in the first step, after the optical path shell is vertically placed on an installation table top of a rotary table, a dial indicator is used for measuring the inner circumferential surface of the optical path shell, the rotary table is rotated, and if the dial indicator number changes, the axis of the optical path shell is not overlapped with the axis of a rotary shaft of the rotary table; and adjusting the position of the light path shell on the mounting table surface until the dial indicator number is unchanged when the rotary table is rotated, and indicating that the axis of the light path shell is superposed with the axis of the rotary shaft of the rotary table.

As a preferred embodiment of the present invention: an adjusting sleeve A is arranged between the collimating mirror A and the collimating mirror B, and the distance between the collimating mirror A and the collimating mirror B is ensured through the adjusting sleeve A.

As a preferred embodiment of the present invention: in the fourth step, the angle of the collimating mirror B is adjusted by grinding the end surface of the adjusting sleeve A opposite to the collimating mirror B; the position adjustment of the collimating mirror B comprises position adjustment in the X direction and the Y direction, and the position adjustment mode is as follows: and jackscrews are respectively arranged at two ends of the collimating mirror BX direction and two ends of the collimating mirror Y direction on the light path shell, and the position of the collimating mirror B is adjusted by screwing the jackscrews in the offset direction.

As a preferred embodiment of the present invention: in the fifth step, the angle of the focusing lens is adjusted by grinding the end surface of the adjusting piece opposite to the focusing lens; the adjustment of the position of the focusing mirror comprises position adjustment in the X direction and the Y direction, wherein the position adjustment in the Y direction is realized by adjusting the thickness of the adjusting piece, and the position adjustment in the X direction is realized by adjusting a connecting screw of the focusing mirror and the grinding adjusting piece in the X direction.

As a preferred embodiment of the present invention: the cemented mirror is mounted inside the optical path housing through an adjustment sleeve B.

As a preferred embodiment of the present invention: in the sixth step, the adjustment of the angle of the cemented mirror is realized by grinding the end surface of the adjusting sleeve B opposite to the cemented mirror; the adjustment of the position of the cemented mirror comprises the position adjustment in the X direction and the Y direction, and the position adjustment mode is as follows: and on the light path shell, two ends of the cemented mirror in the X direction and two ends of the cemented mirror in the Y direction are respectively provided with a jackscrew, and the position of the cemented mirror is adjusted by screwing the jackscrews in the offset direction.

Has the advantages that:

(1) the adjusting method is suitable for adjusting the laser radar light path packaged in a cylindrical part, and can realize high-efficiency and high-precision adjustment of the laser radar light path, so that the measurement precision of the laser radar is ensured.

(2) The movement axis of the focusing motor is adjusted to be consistent with the axes of other lenses, so that the axes of the focusing lens are consistent with the axes of other lenses in the movement process.

Drawings

FIG. 1 is a schematic diagram of a laser radar light path;

FIG. 2 is a schematic view showing the movement direction of the focusing motor and the other lenses in a coaxial state;

FIG. 3 is a schematic view showing the state of the focusing motor in a non-coaxial state with other lenses;

FIG. 4 is a schematic structural diagram of a debugging platform used in the debugging method of the present invention;

fig. 5 is an installation flow chart.

Wherein: 1-a support platform; 2-a turntable; 3-a collimating mirror A; 4-adjusting the sleeve A; 5-a collimating mirror B; 6-a focusing motor; 7-an adjusting part; 8-a focusing mirror; 9-an optical path housing; 10-adjusting the sleeve B; 11-a cemented mirror; 12-centering eye lens; 13-centering instrument column, 14-laser light source and 15-ideal axis

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

The embodiment provides a convenient-to-operate light path adjusting method suitable for a laser radar light path, and the distance and the coaxiality of each lens in the laser radar light path are guaranteed, so that the measurement precision of the laser radar is guaranteed.

The laser radar light path includes: an optical path shell, and a collimating lens A3, a collimating lens B5, a focusing lens 8 and a cemented lens 11 which are coaxially arranged in the optical path shell, wherein the focusing lens 8 can move along the axis of the focusing lens when driven by a focusing motor 6.

When the laser radar measures measured objects at different distances, focusing operation is needed, and the focusing operation is realized by driving a focusing mirror 8 to do linear motion by a focusing motor 6. In order to ensure the accuracy of the measurement result, it is necessary to ensure that the axis of the focusing lens 8 is consistent (coaxial) with the axes of the other lenses (the collimating lens A3, the collimating lens B5 and the cemented lens 11) during the movement of the focusing lens 8, and the coaxial axes of the focusing lens 8, the collimating lens A3, the collimating lens B5 and the cemented lens 11 are the ideal axis 15, as shown in fig. 2; if the focusing lens 8 is adjusted to be coaxial with other lenses at the position 1, but the movement axis of the focusing motor 6 is not coaxial with other lenses, when the focusing motor 6 carries the focusing lens 8 to the position 2, the phenomenon that the focusing lens 8 is not coaxial with other lenses occurs, as shown in fig. 3.

Therefore, when the focusing lens 8 is installed, the movement axis of the focusing motor 6 needs to be adjusted to be consistent with the axes of other lenses, and then the focusing lens 8 needs to be adjusted to be coaxial with the other lenses. Based on this, the installation and adjustment method provided by this embodiment ingeniously marks the mirror surface of the auxiliary plane mirror with the help of the auxiliary plane mirror, adjusts the movement axis of the focusing motor 6 to be consistent with the axes of other lenses, and then replaces the plane mirror with the focusing mirror 8, thereby completing the installation of the focusing mirror 8. And (3) adjusting other lenses by means of a centering instrument, and if the deviation is large, repairing and grinding the corresponding adjusting piece to adjust the deviation to the design range, so that the adjustment of the whole optical path is finally completed.

As shown in fig. 4, the debugging table adopted by the debugging method includes: the device comprises a supporting platform 1, a rotary table 2, a centering instrument upright 13 and a centering instrument eyepiece 12; the supporting platform 1 is a marble platform, the rotary table 2 is a high-precision rotary table, and the rotary table 2 is placed on the supporting platform 1; a centering instrument upright post 13 is supported on the supporting platform 1, and a centering instrument eyepiece 12 is arranged on the centering instrument upright post 13, so that the optical axis of the centering instrument eyepiece 12 is superposed with the axis of the rotating shaft of the turntable 2; the centralizer eyepiece 12 can move up and down along the centralizer column 13. The surface of the rotary table 2 is provided with a three-degree-of-freedom mounting table top which has the freedom degrees of front and back, left and right movement and up and down pitching movement in a horizontal plane; in fig. 4, the left-right direction in the horizontal plane is the X direction, the front-back direction is the Y direction, and the vertical direction is the Z direction, so that the three-degree-of-freedom mounting table has the degrees of freedom of translation along the X direction, translation along the Y direction, and rotation around the Y direction.

As shown in fig. 5, the specific implementation process of the tuning method is as follows:

(1) vertically placing the optical path shell on an installation table top of the rotary table 2, measuring the inner circumferential surface of the optical path shell by using a dial indicator, rotating the rotary table 2, and if the number of the dial indicator changes, indicating that the axis of the optical path shell is not superposed with the axis of a rotating shaft of the rotary table 2; adjusting the position of the light path shell on the mounting table surface until the dial indicator number is unchanged when the rotary table 2 is rotated, indicating that the axis of the light path shell is superposed with the axis of the rotary shaft of the rotary table 2, and fixing the light path shell on the mounting table surface of the rotary table 2 after the axis of the light path shell is superposed with the axis of the rotary shaft of the rotary table 2;

(2) calculating the position of the spherical center image of each mirror surface according to the design distance and the design curvature of the collimating mirror A3, the collimating mirror B5, the focusing mirror 8 and the cemented mirror 11 so as to determine the installation positions of the collimating mirror A3, the collimating mirror B5, the focusing mirror 8 and the cemented mirror 11 in the light path shell;

(3) placing the collimating lens A3 into the light path shell according to the determined installation position of the collimating lens A3, moving the centering instrument eyepiece 12 up and down to adjust the position of the centering instrument eyepiece 12 until the spherical center image of the collimating lens A3 is clear in the centering instrument eyepiece 12; then the turntable 2 is rotated, if the spherical center image of the collimating mirror A3 draws a circle in the eyepiece 12 of the centering instrument, the installation position of the collimating mirror A3 is not proper, namely, the eccentric displacement or/and the eccentric angle exists between the axis of the collimating mirror A3 and the axis of the rotating shaft of the turntable 2, at this time, the position or/and the angle of the collimating mirror A3 need to be adjusted, the adjustment of the position or/and the angle of the collimating mirror A3 is realized by adjusting the three-degree-of-freedom installation table top of the turntable 2 until the position of the spherical center image of the collimating mirror A3 in the eyepiece 12 of the centering instrument is not changed, the collimating mirror A3 is adjusted to the correct installation position, namely, the axis of the collimating mirror A3 is coincident with the axis of the rotating shaft of the turntable 2, glue is dispensed at the periphery of the collimating mirror A3, the collimating mirror A3 is fixed;

(4) after the glue on the periphery of the collimating mirror A3 is dried, an adjusting sleeve A4 is arranged in the light path shell, and the adjusting sleeve A4 is used for ensuring the relative position (distance) between the collimating mirror A3 and the collimating mirror B5;

(5) placing a collimating lens B5 into the light path shell, enabling a collimating lens A3 and a collimating lens B5 to be respectively positioned at the two axial ends of an adjusting sleeve A4, and adjusting the position of the centering instrument eyepiece 12 until the spherical center image of the collimating lens B5 is clear in the centering instrument eyepiece 12; then the turntable 2 is rotated, if the spherical center image of the collimator B5 draws a circle in the eyepiece 12 of the centering instrument, it indicates that eccentric displacement or/and an eccentric angle exists between the axis of the collimator B5 and the axis of the rotating shaft of the turntable 2, at this time, the position or/and the angle of the collimator B5 need to be adjusted until the position of the spherical center image of the collimator B5 in the eyepiece 12 of the centering instrument is fixed, it indicates that the collimator B5 is adjusted to a correct installation position, i.e. the axis of the collimator B5 coincides with the axis of the rotating shaft of the turntable 2, glue dispensing is carried out on the periphery of the collimator B5, the collimator B5 is fixed in a light path shell, and the installation and adjustment of the collimator B5 are completed;

wherein the adjustment of the angle (pitch angle) of the collimator lens B5 is realized by grinding the end face of the adjustment sleeve a4 opposite to the collimator lens B5; the position adjustment of the collimating mirror B5 comprises the position adjustment in the X direction and the Y direction, and the position adjustment mode is as follows: on the light path shell, two ends of the collimating mirror B5X in the direction and two ends of the collimating mirror B5 in the direction Y are respectively provided with a jackscrew, and the position of the collimating mirror B5 is adjusted by screwing the jackscrews in the offset direction.

(6) In order to ensure that the axis of the focusing lens 8 is always coaxial with other lenses in the whole focusing process, the focusing lens is adjusted in two steps:

firstly, the movement axis of the focusing motor 6 is adjusted to coincide with the axis of the rotating shaft of the turntable 2:

a plane reflecting mirror with a mark on the mirror surface is placed at the position of a focusing mirror 8, the mark can be a cross wire, a round mark or a mark with other shapes, a focusing motor 6 is a linear motor, the power output end of the focusing motor 6 is connected with the plane reflecting mirror through an adjusting piece 7, and the focusing motor 6 is used for driving the plane reflecting mirror to move up and down; controlling a focusing motor 6 to drive the plane mirror to reciprocate up and down, and keeping the rotary table 2 still; observing in an eyepiece 12 of the centering instrument, and if the mark on the mirror surface of the plane mirror is still, indicating that the motion axis of the focusing motor 6 is superposed with the rotation axis of the turntable 2 at the moment; if the mark on the mirror surface of the plane mirror moves along with the up-and-down reciprocating motion of the plane mirror, the motion axis of the focusing motor 6 is not coincident with the rotation axis of the turntable 2 at the moment, and the motion axis of the focusing motor 6 is adjusted (the adjustment gasket can be arranged at the corresponding position of the power output end of the focusing motor 6 according to the offset direction of the motion axis of the focusing motor 6 relative to the rotation axis) until the mark on the mirror surface observed in the eyepiece 12 of the centering instrument is still when the plane mirror reciprocates up and down.

Then adjusting the axis of the focusing lens 8 to coincide with the axis of the rotary shaft of the rotary table:

taking down the plane reflector with the mark, mounting the focusing lens 8 on the focusing motor 6, rotating the rotary table 2, observing a spherical center image of the focusing lens 8 in the eyepiece 12 of the centering instrument, if the spherical center image of the focusing lens 8 draws a circle in the eyepiece 12 of the centering instrument, indicating that the mounting position of the focusing lens 8 is not proper, namely that an eccentric displacement or/and an eccentric angle exists between the axis of the focusing lens 8 and a rotary shaft of the rotary table 2, and needing to adjust the position or/and the angle of the focusing lens 8 until the position of the spherical center image of the focusing lens 8 in the eyepiece 12 of the centering instrument is not moved, indicating that the focusing lens 8 is adjusted to a correct mounting position, namely that the axis of the focusing lens 8 is coincident with the axis of the rotary table 2;

wherein the adjustment of the angle (pitch angle) of the focusing mirror 8 is realized by grinding the end surface of the adjusting piece 7 opposite to the focusing mirror 8; the adjustment of the position of the focusing mirror 8 comprises position adjustment in the X direction and the Y direction, wherein the position adjustment in the Y direction is realized by adjusting the thickness of the adjusting piece 7, and the position adjustment in the X direction is realized by adjusting a connecting screw between the focusing mirror 8 and the grinding adjusting piece 7 in the X direction.

(7) An adjusting sleeve B10 is arranged in the light path shell, and an adjusting sleeve B10 is used for ensuring the relative position (distance) between the cemented mirror 11 and the collimating mirror B5; placing the cemented lens 11 on an adjusting sleeve B10 in the light path shell (namely, one end of the cemented lens 11 is abutted against the adjusting sleeve B10), and adjusting the position of the eyepiece 12 of the centering instrument until the spherical center image of the cemented lens 11 is clear in the eyepiece 12 of the centering instrument; then, the turntable 2 is rotated, if the spherical center image of the cemented lens 11 draws a circle in the eyepiece 12 of the centering instrument, it indicates that eccentric displacement or/and an eccentric angle exists between the axis of the cemented lens 11 and the rotating shaft of the turntable 2, at this time, the position or/and the angle of the cemented lens 11 need to be adjusted until the turntable 2 is rotated, and the position of the spherical center image of the cemented lens 11 in the eyepiece 12 of the centering instrument is not moved, it indicates that the cemented lens 11 is adjusted to a correct installation position, i.e. the axis of the cemented lens 11 is coincident with the axis of the rotating shaft of the turntable 2, glue is dispensed on the periphery of the cemented lens 11, and the cemented lens 11 is fixed in; the adjustment of the cemented mirror 11 is completed.

Wherein the adjustment of the angle (pitch angle) of the cemented mirror 11 is carried out by grinding the end face of the adjustment sleeve B10 opposite to the cemented mirror 11; the adjustment of the position of the cemented mirror 11 includes position adjustment in the X direction and the Y direction in the following manner: on the light path housing, two ends of the cemented mirror 11 in the X direction and two ends of the cemented mirror 11 in the Y direction are respectively provided with a jackscrew, and the position of the cemented mirror 11 is adjusted by screwing the jackscrew in the offset direction.

And completing the adjustment of the laser radar light path through the seven steps.

Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.