CN119355977A - A visual docking method for relay optical module and precision turntable module - Google Patents
A visual docking method for relay optical module and precision turntable module Download PDFInfo
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- CN119355977A CN119355977A CN202411682653.2A CN202411682653A CN119355977A CN 119355977 A CN119355977 A CN 119355977A CN 202411682653 A CN202411682653 A CN 202411682653A CN 119355977 A CN119355977 A CN 119355977A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
- G02B27/62—Optical apparatus specially adapted for adjusting optical elements during the assembly of optical systems
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/0095—Relay lenses or rod lenses
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/02—Telephoto objectives, i.e. systems of the type + - in which the distance from the front vertex to the image plane is less than the equivalent focal length
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/118—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum specially adapted for satellite communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/29—Repeaters
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- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Astronomy & Astrophysics (AREA)
- Optical Communication System (AREA)
Abstract
The invention discloses a visual docking method for a relay optical module and a precise turntable module, which solves the problem that the docking efficiency of the relay optical module and the precise turntable module is too low in the prior art. According to the characteristics of coaxial receiving and emitting of the relay optical modules, the pitch axis of the precise turntable module is firstly transmitted to the center normal line of the star-hole reflector in the star-hole reflection tool by utilizing the principle of optical self-alignment penetration, and the visual butt joint of the two relay optical modules and the precise turntable module is completed through the real-time monitoring of the precise tracking camera and the light spot analyzer.
Description
Technical Field
The invention relates to an optical module docking method, in particular to a visual docking method for a relay optical module and a precise turntable module.
Background
Along with the situation change of batch development of inter-satellite laser communication in China, the improvement of the adjustment precision and efficiency of a laser communication optical machine terminal system becomes particularly important. As shown in fig. 1, the laser communication optical machine terminal system consists of a relay optical module 1, a precise turntable module 2 and a telescopic optical module 3, wherein the relay optical module 1 is connected with one end of the precise turntable module 2 through a pitching shaft rear end flange 4 and does not rotate along with a pitching shaft, a trimming pad is arranged at the connecting end face, and the telescopic optical module 3 is connected with the other end of the precise turntable module 2 through a pitching shaft front end flange 5 and rotates along with the pitching shaft.
As shown in fig. 2, the relay optical module 1 mainly comprises a communication transmitting unit 11, a communication receiving unit 12 and a fine tracking camera 13, wherein a central light outlet hole 14 communicated with the fine turntable module 2 is formed in one end, close to the fine turntable module 2, of the relay optical module 1, optical axes of the communication transmitting unit 11, the communication receiving unit 12 and the fine tracking camera 13 can be converged into a coaxial optical path at the central light outlet hole 14 through a turning-back mirror in the relay optical module 1, the communication transmitting unit 11 can transmit parallel light beams with the wave band of 1550nm and the caliber of phi 6mm, and the fine tracking camera 13 can image the parallel light beams with the wave band of 1550 nm.
As shown in fig. 3, the precision turret module 2 includes an azimuth axis 21 and a pitch axis 22 perpendicular to the azimuth axis 21, and the relay optical module 1 and the telescope optical module 3 are connected to both ends of the pitch axis 22, respectively.
The essence of the butt joint of the relay optical module 1 and the precision turret module 2 is the adjustment of the coaxiality of the parallel light beam emitted by the relay optical module 1 from the central light emitting hole 14 and the pitching axis 22 of the precision turret module 2. The traditional butt joint method is to calibrate the shaft system of the precise turntable module 2 independently, the optical calibration of the rotating shaft is finished by means of a mirror cross reticle tool and by monitoring the self-alignment through image in the external theodolite by human eyes, one person is required to monitor and the other person is required to debug in the process of assembling and adjusting, and the form seriously influences the assembling and adjusting efficiency.
Disclosure of Invention
In order to solve the technical problem that the butt joint efficiency of a relay optical module and a precision turntable module is too low in the prior art, the invention provides a visual butt joint method for the relay optical module and the precision turntable module.
The invention is characterized in that:
According to the characteristics of coaxial receiving and emitting of the relay optical modules, the pitch axis of the precise turntable module is firstly transmitted to the center normal line of the star-hole reflector in the star-hole reflection tool by utilizing the principle of optical self-alignment penetration, and the visual butt joint of the two relay optical modules and the precise turntable module is completed through the real-time monitoring of the precise tracking camera and the light spot analyzer.
In order to achieve the above object, the present invention adopts the following technical scheme:
The visual butt joint method for the relay optical module and the precise turntable module is characterized by comprising the following steps of:
Step 1, a pyramid prism assembly is placed outside a light outlet of a relay optical module, the relay optical module emits parallel light beams, the parallel light beams return in parallel in an original path after being acted by the pyramid prism assembly, a first circular light spot is formed on a focal plane of a fine tracking camera in the relay optical module, and the position of the first circular light spot is recorded as a position 1;
step 2, connecting the relay optical module to one end of a pitching shaft in the precise turntable module through a pitching shaft rear end flange, and installing a star hole reflection tool at the other end of the pitching shaft;
Step 3, enabling the parallel light beams emitted by the relay optical module to pass through a pitching axis, and enabling the parallel light beams to enter a star hole reflection tool and then return to an original path, forming a second circular light spot on a focal plane of the fine tracking camera, and rotating the pitching axis, so that the second circular light spot is circularly marked on the focal plane, enabling the circle marking quantity to be minimum by adjusting the star hole reflection tool, and marking the position of the center point of the minimum circle marking to be position 2;
Step 4, calculating the inclination amount of the trimming ring arranged at the flange at the rear end of the pitching shaft through the positions 1 and 2 and the outer diameter of the flange at the rear end of the pitching shaft;
step 5, repairing the trimming ring according to the inclination amount so that the position 1 coincides with the position 2;
Step 6, erecting a spot analyzer at the outer side of one end of the star-hole reflection tool, which is far away from the precise turntable module, forming a third circular light spot on the target surface of the spot analyzer by the parallel light beam emitted by the relay optical module, rotating a pitching axis, then marking a circle on the target surface by the third circular light spot, adjusting the star-hole reflection tool until the position of the third circular light spot is unchanged when the pitching axis rotates, and recording the position of the third circular light spot as a position 1';
step 7, disassembling the star-hole reflection tool, or disassembling the star-hole reflection mirror frame and the star-hole reflection mirror in the center of the star-hole reflection mirror frame, so that a fourth circular light spot is formed on the target surface of the light spot analyzer by the parallel light beam emitted by the relay optical module, and the position of the fourth circular light spot is recorded as a position 2';
And 8, keeping the precise turntable module motionless, translating the relay optical module along the radial direction of the pitching axis to enable the position 1 'to coincide with the position 2', and enabling the optical axis of the parallel light beam emitted by the relay optical module to coincide with the revolving axis of the pitching axis, thereby completing the visual butt joint of the relay optical module and the precise turntable module.
Further, the step 1 specifically comprises the following steps:
Step 1, a pyramid prism component is placed outside a central light outlet hole of a relay optical module, a communication emission unit of the relay optical module emits laser beams, the laser beams are converted into parallel beams to be emitted from the central light outlet hole, the parallel beams return in parallel after being acted by the pyramid prism component, a first circular light spot is formed on a focal plane of a fine tracking camera of the relay optical module, a light spot diagram of the first circular light spot is collected, the position of the first circular light spot on the focal plane of the fine tracking camera is interpreted, and the position is recorded as a position 1.
Further, the step 2 specifically comprises:
the relay optical module is connected to one end of a pitching shaft in the precise turntable module through a pitching shaft rear end flange, and a star hole reflection tool is arranged at the other end of the pitching shaft through a pitching shaft front end flange;
The star-hole reflection tool comprises a cylindrical star-hole reflection shell, a star-hole reflection mirror frame arranged in the star-hole reflection shell through a pressing ring and a star-hole reflection mirror arranged at the center of the star-hole reflection mirror frame, wherein a center small hole is formed in the center of the star-hole reflection mirror, a tilt adjusting knob used for adjusting the tilt angle of the star-hole reflection mirror is arranged on the star-hole reflection mirror frame, and a translation adjusting knob used for translating the star-hole reflection mirror along the radial direction of the star-hole reflection shell is arranged on the star-hole reflection shell.
Further, the step3 specifically comprises:
The parallel light beams emitted by the relay optical module are emitted from the central light emitting hole, pass through the pitching axis and enter the star hole reflection tool, return to the original path after being reflected by the star hole reflection mirror in the star hole reflection tool, form a second circular light spot on the focal plane of the fine tracking camera, rotate the pitching axis, then the second circular light spot makes a circle on the focal plane, the circle making amount is minimum by adjusting the inclination adjusting knob on the star hole reflection tool, then the rotation center of the pitching axis is parallel to the normal line of the star hole reflection mirror, and the position of the minimum circle making center point is recorded as position 2.
Further, the step 4 specifically comprises:
Calculating an included angle delta theta between a parallel light beam emitted from a central light emitting hole of the relay optical module and a pitching axis through pixel difference values of the position 1 and the position 2, and calculating the inclination quantity K of the trimming ring according to the diameter d of a flange at the rear end of the pitching axis by the following formula:
K=dsinΔθ。
further, the step 6 specifically includes:
The method comprises the steps that a spot analyzer is erected at the outer side of one end, far away from a precision turntable module, of a star-hole reflection tool, laser beams emitted by a communication emission unit are converted into parallel beams, the parallel beams are emitted from a central light emitting hole, pass through a pitching axis and then are emitted from a central small hole on a star-hole reflector to the spot analyzer to form a third circular spot, the pitching axis is rotated, the third circular spot is circularly marked on a target surface of the spot analyzer along with rotation of the pitching axis, the position of the third circular spot on the target surface of the spot analyzer is unchanged when the pitching axis rotates through adjustment of a translation adjusting knob on the star-hole reflection tool, the position of the third circular spot emitted from the central small hole is the rotation center of the pitching axis, and the position 1' of the third circular spot on the target surface of the spot analyzer is recorded.
Further, the step 7 specifically comprises:
And disassembling the star-hole reflection tool, or disassembling a pressing ring on the star-hole reflection tool, taking out the star-hole reflection mirror frame and the star-hole reflection mirror at the center of the star-hole reflection mirror frame, forming a fourth circular light spot on the target surface of the light spot analyzer by the parallel light beams emitted by the relay optical module, and recording the position 2' of the fourth circular light spot.
The invention has the beneficial effects that:
1. The visual docking method for the relay optical module and the precise turntable module provided by the invention not only fuses the calibration procedure of the precise turntable module shafting and the docking procedure of the precise turntable module and the relay optical module, but also improves the docking efficiency of the relay optical module and the precise turntable module by one time, and simultaneously reduces the debugging personnel required by the docking procedure by half compared with the prior art.
2. According to the invention, according to the optical characteristics of the receiving and transmitting shafts of the relay optical module, the rotation shaft angle of the precise turntable is visualized by a self-calibration method under the condition of not using external observation equipment by utilizing a star hole reflector tool and by utilizing a pyramid prism self-calibration method, the optical axis angle of the relay system is visualized by utilizing the principle of fixing the shaft system center by utilizing a rotation small hole diaphragm, and the shaft system center and the relay emergent beam center are visualized by utilizing light spot analysis, so that the butt joint is more precise.
Drawings
FIG. 1 is a schematic diagram of a laser communication optical bench terminal system;
Fig. 2 is a schematic structural view of the relay optical module;
FIG. 3 is a schematic view of the structure of the precision turret module;
FIG. 4 is a schematic structural diagram of a star-hole reflection tool according to an embodiment of the present invention;
FIG. 5 is a second schematic diagram of a star-hole reflection tool according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a corner cube assembly used in an embodiment of the present invention;
The reference numerals comprise a 1-relay optical module, a 11-communication transmitting unit, a 12-communication receiving unit, a 13-fine tracking camera, a 14-central light outlet hole, a 2-precise turntable module, a 21-azimuth axis, a 22-elevation axis, a 3-telescope optical module, a 4-elevation axis rear end flange, a 5-elevation axis front end flange, a 6-star hole reflection tool, a 61-star hole reflection shell, a 62-pressing ring, a 63-star hole reflection mirror frame, a 64-star hole reflection mirror, a 65-inclination adjustment knob, a 66-translation adjustment knob, a 67-central small hole and a 7-pyramid prism component;
FIG. 7 is a schematic structural diagram of an embodiment of a visual docking method for a relay optical module and a precision turret module according to the present invention when proceeding to step 6;
reference numeral 8-spot analyzer.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings and examples, and it is apparent that the described examples are only some but not all examples of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a visual docking method for a relay optical module and a precision turntable module, which comprises the following steps:
Step 1, a pyramid prism component 7 is placed outside a central light emitting hole 14 of a relay optical module 1, the structure of the pyramid prism component 7 is shown in fig. 6, a communication emission unit 11 of the relay optical module 1 emits laser beams, the laser beams are converted into parallel beams to be emitted from the central light emitting hole 14, the parallel beams return in parallel after being acted by the pyramid prism component 7, a first circular light spot is formed on a focal plane of a fine tracking camera 13 of the relay optical module 1, a light spot diagram of the first circular light spot is collected, and the position of the first circular light spot on the focal plane of the fine tracking camera 13 is judged through centroid interpretation software and is recorded as a position 1.
Step 2, connecting the relay optical module 1 to one end of a pitching shaft 22 in the precise turntable module 2 through a pitching shaft rear end flange 4, and installing a star hole reflection tool 6 at the other end of the pitching shaft 22 through a pitching shaft front end flange 5;
Referring to fig. 4 and 5, the star-hole reflection tool 6 comprises a cylindrical star-hole reflection housing 61, a star-hole reflection mirror frame 63 mounted on an inner wall of one end of the star-hole reflection housing 61 via a pressing ring 62, and a star-hole reflection mirror 64 mounted at the center of the star-hole reflection mirror frame 63. One surface of the star-hole reflector 64 is a reflecting surface coated with a reflecting film, a center small hole 67 with the diameter of 0.5mm is arranged in the center of the reflecting surface, the center small hole 67 is a light outlet of the star-hole reflector 6, the inclination of the star-hole reflector 64 can be adjusted through 2 inclination adjusting knobs 65 on the star-hole reflector 63, and the radial translation of the star-hole reflector 64 can be adjusted through 4 translation adjusting knobs 66 uniformly distributed on the star-hole reflector shell 61 in a circle. The specific internal structure refers to inter-satellite laser communication pointing and capturing mechanism research [ D ]. University of Chinese academy of sciences [ Zhang Furui ] institute of optical and precision machinery of Western Ann of Chinese academy of sciences ] 2019.DOI:10.27605/d.cnki.gkxgs.2019.000031.
Step 3, the laser beam emitted by the communication emission unit 11 is converted into a parallel beam, the parallel beam is emitted from the central light emitting hole 14 and passes through the pitching axis 22 of the precise turntable module 2 to be incident on the star hole reflecting mirror 64 of the star hole reflecting tool 6, after being reflected by the star hole reflecting mirror 64, the reflected light passes through the pitching axis 22 of the precise turntable module 2 again, enters the precise tracking camera 13 of the relay optical module 1 from the central light emitting hole 14, a second circular light spot is formed on the focal plane of the precise tracking camera 13, when the pitching axis 22 is rotated, the second circular light spot makes a circle on the focal plane of the precise tracking camera 13, the circle making amount is minimum or motionless by adjusting the inclination adjusting knob 65 of the star hole reflecting tool 6, the light spot map of the minimum circle making or the second circular light spot is acquired, and the precise position of the minimum circle making center point or the second circular light spot on the focal plane of the precise tracking camera 13 is interpreted by the mass center interpretation software, and is recorded as position 2, and the pitching axis 22 is strictly parallel to the normal line of the star hole reflecting mirror 64;
Step 4, calculating an included angle delta theta between the parallel beam emitted from the light emitting hole 14 in the center of the relay optical module 1 and the axis of the pitching axis 22 according to the pixel difference value between the position 1 and the position 2, and calculating the inclination amount K of the trimming ring according to the outer diameter d of the pitching axis rear end flange 4 by the following formula:
K=dsinΔθ;
Step 5, repairing and grinding the repairing and cutting ring at the joint of the relay optical module 1 and the precise turntable module 2 according to the inclination amount K to enable the position 1 to coincide with the position 2, wherein at the moment, the parallel light beam emitted by the central light emitting hole 14 is parallel to the axis of the pitching shaft 22, and the parallel precision is smaller than 10'';
Step 6, as shown in fig. 7, a spot analyzer 8 is erected at the outer side of one end of the star hole reflection tool 6, which is far away from the precision turntable module 2, the spot analyzer 8 can receive the spot and position the center position of the spot, the communication emission unit 11 in the relay optical module 1 emits a laser beam, the laser beam is converted into parallel beams, the parallel beams sequentially pass through the center light emitting hole 14 and the pitching axis 22 and then are emitted from the center small hole 67 of the star hole reflector 64 to the target surface of the spot analyzer 8 to form a third circular spot, when the pitching axis 22 is rotated, the midpoint of the center small hole 67 is not positioned on the axis of the pitching axis 22, along with the rotation of the pitching axis 22, the third circular spot is circularly marked on the target surface of the spot analyzer 8, and the position of the third circular spot on the target surface of the spot analyzer 8 is not changed until the position of the pitching axis 22 is rotated, namely, the center of revolution of the center small hole 67 represents the pitching axis 22 is recorded, and the position 1' of the third circular spot on the target surface of the spot analyzer 8 is recorded;
Step 7, loosening the pressing ring 62 on the star-hole reflection tool 6, taking out the star-hole reflection mirror frame 63 and the star-hole reflection mirror 64 in the center of the star-hole reflection mirror frame 63, receiving a fourth circular light spot formed by a phi 6mm parallel light beam emitted by the communication emission unit 11 by the light spot analyzer 8, and recording the position 2' of the fourth circular light spot;
in other embodiments, the star-hole reflection tool 6 may be directly detached from the pitch axis 22.
Step 8, keeping the precise turntable module 2 motionless, and translating the relay optical module 1 along the radial direction of the pitching axis 22 until the position 1 'of the third circular light spot coincides with the position 2' of the fourth circular light spot, wherein the optical axis of the emergent light beam of the relay optical module 1 coincides with the revolving axis of the pitching axis 22;
The visual docking of the relay optical module 1 with the precision turret module 22 is completed.
The embodiment can enable the superposition precision of the optical axis of the parallel light beam emitted by the relay optical module 1 and the revolving axis of the pitching axis 22 to reach 0.01mm through the method.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the present invention is not limited thereto, but any changes or substitutions within the technical scope of the present invention should be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
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Cited By (1)
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| CN120871366A (en) * | 2025-09-25 | 2025-10-31 | 北京蓝箭鸿擎科技有限公司 | A multi-angle rotatable field-of-view docking mechanism and spacecraft |
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